一种多旋翼无人机智能巡检系统Intelligent inspection system for multi-rotor UAV
技术领域Technical field
本发明涉及输电线路无人机检测技术领域,尤其涉及一种多旋翼无人机智能巡检系统。The invention relates to the technical field of unmanned aerial vehicle detection for transmission lines, in particular to an intelligent inspection system for multi-rotor unmanned aerial vehicles.
背景技术Background technique
输电线路分布点多面广,所处地形复杂,自然环境恶劣,传统的人工巡检方法不仅工作量大而且条件艰苦,特别是对山区和跨越大江大河的输电线路的巡检,以及在冰灾、水灾、地震、滑坡、夜晚期间巡线检查,所花时间长、人力成本高、困难大、风险高。2014年开始试点输电线路无人机巡检应用。目前,无人机巡检中应用较为广泛可以实现巡检,也可以进行定位,前景比较广泛。Transmission lines are distributed in many areas, with complex terrain and harsh natural environment. The traditional manual inspection method is not only a heavy workload but also difficult conditions, especially for mountainous areas and transmission lines crossing large rivers, as well as ice disasters, During floods, earthquakes, landslides, and line inspections at night, it takes a long time, high labor costs, great difficulties, and high risks. In 2014, the pilot application of UAV inspection on transmission lines was started. At present, UAV inspections are widely used in inspections and can also be used for positioning. The prospects are relatively broad.
目前市场上所采用的技术无人机可以实现GPS定位、简单的图像处理,图像传输等技术,但是,输电线路和杆塔磁场对无人机的传输信号存在干扰,因此采用保持无人机与输电线路的高度距离可以有效降低干扰,促进输电巡检工作的顺利开展。The technology drones currently used in the market can realize GPS positioning, simple image processing, image transmission and other technologies. However, the transmission lines and the magnetic field of the tower interfere with the transmission signal of the drone, so the maintenance drone and power transmission are used. The height and distance of the line can effectively reduce interference and promote the smooth development of power transmission inspection work.
发明内容Summary of the invention
本发明的目的在于提供一种多旋翼无人机智能巡检系统;本发明通过对巡检无人机进行通信信号进行监测并控制巡检无人机的飞行高度,便于巡检无人机进行电力巡检,同时将巡检的图像传输至后台终端,避免巡检无人机与传输线路较近,影响巡检无人机的通信传输;通过巡检供电模块对巡检无人机进行电量监测及供电,便于巡检无人机进行及时供电。The purpose of the present invention is to provide a multi-rotor UAV intelligent inspection system; the present invention monitors the communication signal of the inspection drone and controls the flight height of the inspection drone, which is convenient for the inspection drone. Power inspection, while transmitting the inspection images to the background terminal, to avoid the proximity of the inspection drone and the transmission line, which affects the communication transmission of the inspection drone; the inspection drone is powered by the inspection power supply module Monitoring and power supply are convenient for patrol inspection drones to provide timely power supply.
本发明所要解决的技术问题为:The technical problems to be solved by the present invention are:
(1)如何通过对初选无人机进行巡检值进行分析计算得到巡检无人机,并通过对巡检无人机进行通信信号进行监测并控制巡检无人机的飞行高度,来解决巡检无人机与传输线路较近,影响巡检无人机的通信传输的问题;(1) How to obtain the inspection drone by analyzing and calculating the inspection values of the primary drones, and by monitoring the communication signals of the inspection drones and controlling the flight altitude of the inspection drones, Solve the problem that the inspection drone is close to the transmission line, which affects the communication transmission of the inspection drone;
本发明的目的可以通过以下技术方案实现:一种多旋翼无人机智能巡检系统,包括数据采集模块、服务器、巡检分配模块、无人机模块、注册登录模块、路径存储模块、智能巡检模块和巡检供电模块;The purpose of the present invention can be achieved by the following technical solutions: a multi-rotor UAV intelligent inspection system, including data acquisition module, server, inspection distribution module, UAV module, registration login module, path storage module, intelligent patrol Inspection module and patrol inspection power supply module;
所述数据采集模块用于采集待巡检的输电线路信息并将输电线路信息发送至服务器内,其中,输电线路信息包括待巡检输电线路的起始位置、结束位置、巡检时间及输电线路的电线高度;The data collection module is used to collect the transmission line information to be inspected and send the transmission line information to the server, where the transmission line information includes the start position, end position, inspection time and transmission line of the transmission line to be inspected The height of the wire;
所述巡检分配模块用于对待输电线路进行无人机巡检分配,具体分配步骤如下:The patrol distribution module is used to perform UAV patrol and distribution on the transmission line to be processed, and the specific distribution steps are as follows:
步骤一:将巡检状态的多旋翼无人机标记为初选无人机,用符号Wi表示,i=1、……、n;Step 1: Mark the multi-rotor UAV in the inspection state as the primary UAV, represented by the symbol Wi, i=1, ..., n;
步骤二:将初选无人机的位置分别与待巡检输电线路的起始位置、结束位置进行距离差计算,得到起始差距和结束差距,分别标记为G1
Wi、G2
Wi;
Step 2: Calculate the distance difference between the position of the primary drone and the starting position and ending position of the transmission line to be inspected to obtain the starting gap and ending gap, which are marked as G1 Wi and G2 Wi respectively ;
步骤三:获取初选无人机的购买时间并将其与系统当前时间进行时间差计算得到购买时长并标记为T
Wi;
Step 3: Obtain the purchase time of the primary selected drone and calculate the time difference between it and the current time of the system to obtain the purchase time and mark it as T Wi ;
步骤四:设定初选无人机的电池容量记为U
Wi;
Step 4: Set the battery capacity of the primary selected drone as U Wi ;
步骤五:利用公式
获取得到初选无人机的巡检值F
Wi;其中,b1、b2、b3、b4、b5和b6均为预设比例系数,X
Wi为初选无人机的巡检次数;H
Wi为初选无人机的供电值;
Step 5: Use the formula Obtain the inspection value F Wi of the primary selected drone; among them, b1, b2, b3, b4, b5 and b6 are the preset scale factors, X Wi is the number of inspections of the primary drone; H Wi is Preliminary selection of the power supply value of the drone;
步骤六:将巡检值最大的初选无人机标记为巡检无人机,同时获取路径存储模块内的巡检路径以及服务器内存储的该巡检无人机的编号,将巡检路径与 待巡检输电线路的起始位置、结束位置进行匹配,当巡检路径的起点和终点与待巡检输电线路的起始位置、结束位置一一重合,则将该巡检路径标记为待执行路径;否,则生成路径采集指令;Step 6: Mark the primary drone with the largest inspection value as the inspection drone, and at the same time obtain the inspection path in the path storage module and the number of the inspection drone stored in the server, and set the inspection path Match with the starting position and end position of the transmission line to be inspected. When the start and end points of the inspection path coincide with the start and end positions of the transmission line to be inspected, the inspection path is marked as waiting. Execution path; otherwise, generate path collection instructions;
步骤七:巡检分配模块将巡检无人机的编号及待执行路径或路径采集指令发送至智能巡检模块;Step 7: The patrol distribution module sends the number of the patrol drone and the path to be executed or the path collection instruction to the intelligent patrol module;
所述智能巡检模块用于巡检无人机对待巡检的输电线路进行智能巡检,具体巡检过程如下:The intelligent inspection module is used to inspect the transmission lines to be inspected by the drone for intelligent inspection, and the specific inspection process is as follows:
a:当智能巡检模块接收到巡检无人机的编号及待执行路径后,智能巡检模块控制巡检无人机飞行至待巡检输电线路的起始位置,然后,控制巡检无人机依据待执行路径进行飞行,同时拍摄待巡检输电线路图像并将其发送至服务器内;a: After the intelligent inspection module receives the number of the inspection drone and the path to be executed, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies according to the path to be executed, and at the same time photographs the image of the transmission line to be inspected and sends it to the server;
b:当智能巡检模块接收到巡检无人机的编号及路径采集指令后,智能巡检模块控制巡检无人机飞行至待巡检输电线路的起始位置,然后,控制巡检无人机沿待巡检输电线路进行飞行并拍摄待巡检输电线路图像并将其发送至服务器内;同时智能巡检模块采集巡检无人机的通信信号强度,当通信信号强度低于设定阈值,则控制巡检无人机向上飞行,使其通信信号强度等于设定阈值;当通信信号强度大于设定阈值,则控制巡检无人机向下飞行,使其通信信号强度等于设定阈值;当通信信号强度等于设定阈值,则巡检无人机沿当前高度进行飞行,将该巡检无人机飞行的起始位置、巡检无人机通信信号强度等于设定阈值的高度以及巡检无人机飞行的结束位置构成巡检路径;同时该巡检无人机的巡检次数增加一次,智能巡检模块将巡检路径通过服务器发送至路径存储模块内进行存储。b: After the intelligent inspection module receives the number and path acquisition instruction of the inspection drone, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies along the transmission line to be inspected and shoots the image of the transmission line to be inspected and sends it to the server; at the same time, the intelligent inspection module collects the communication signal strength of the inspection drone. When the communication signal strength is lower than the setting Threshold, the inspection drone will be controlled to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, the inspection drone will be controlled to fly downwards so that the communication signal strength is equal to the set threshold. Threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the starting position of the inspection drone and the communication signal strength of the inspection drone will be equal to the set threshold. And the end position of the inspection drone flight constitutes the inspection path; at the same time, the number of inspections of the inspection drone is increased by one, and the intelligent inspection module sends the inspection path through the server to the path storage module for storage.
优选的,所述注册登录模块用于用户通过手机终端提交用户信息和无人机 信息进行注册并将注册成功的用户信息和无人机信息发送至服务器内;用户信息包括姓名、手机号码、位置;无人机信息包括多旋翼无人机的购买时间、电池容量和多旋翼无人机的型号,服务器接收到用户信息和无人机信息后进行存储,同时对该多旋翼无人机进行编号。Preferably, the registration and login module is used by the user to submit user information and drone information through a mobile phone terminal for registration and send the successfully registered user information and drone information to the server; user information includes name, mobile phone number, and location ; The UAV information includes the purchase time of the multi-rotor UAV, battery capacity and the model of the multi-rotor UAV. The server stores the user information and the UAV information after receiving the user information and the UAV information, and the multi-rotor UAV is numbered at the same time .
优选的,所述无人机模块用于用户通过手机终端提交多旋翼无人机的使用开始时间和使用结束时间,将无人机模块将巡检时间与用户提交的多旋翼无人机的使用开始时间和使用结束时间进行匹配,当巡检时间在多旋翼无人机的使用开始时间和使用结束时间范围内,且巡检时间与使用结束时间的时间差值大于设定阈值,则将该多旋翼无人机的状态标记为巡检状态。Preferably, the drone module is used by the user to submit the use start time and use end time of the multi-rotor drone through the mobile phone terminal, and the drone module compares the inspection time with the use of the multi-rotor drone submitted by the user. The start time and the end time of use are matched. When the inspection time is within the range of the use start time and end time of the multi-rotor UAV, and the time difference between the inspection time and the end time of use is greater than the set threshold, the The status of the multi-rotor drone is marked as the inspection status.
优选的,所述巡检供电模块用于对巡检无人机进行电量监测及供电,具体步骤如下:Preferably, the inspection power supply module is used to monitor and supply power to the inspection drone, and the specific steps are as follows:
步骤一:获取巡检无人机的电量,当电量值等于设定阈值,则将该巡检无人机进行供电分配;Step 1: Obtain the power of the patrol drone. When the power value is equal to the set threshold, then the patrol drone will be allocated power;
步骤二:获取巡检无人机的当前位置,获取当前位置再预设范围内的用户将其标记为初选用户;Step 2: Obtain the current position of the inspection drone, obtain the current position and mark the user within the preset range as the primary user;
步骤三:将初选用户标记为Rj,j=1、……、n;将巡检无人机的当前位置于初选用户的位置进行距离差计算得到供电距离,并标记为E
Rj;
Step 3: Mark the primary user as Rj, j=1, ..., n; calculate the distance difference between the current position of the patrol drone and the primary user’s location to obtain the power supply distance, and mark it as E Rj ;
步骤四:获取初选用户的充电次数并标记为P
Rj;
Step 4: Obtain the charging times of the primary users and mark them as P Rj ;
步骤五:利用公式
获取得到初选用户的供电优先值L
Rj;其中,c1和c2均为预设比例系数;
Step 5: Use the formula Obtain the power supply priority value L Rj of the primary selected user; where c1 and c2 are both preset proportional coefficients;
步骤六:选取供电优先值最大的初选用户为选中用户,巡检供电模块向选中用户的手机终端发送充电提醒指令,当选中用户通过手机终端发送同意指令至巡检供电模块,则巡检供电模块控制巡检无人机飞行至该选中用户的位置, 选中用户对该巡检无人机进行供电,同时巡检无人机将充电开始时间和充电结束时间发送巡检供电模块,同时该选中用户的充电次数增加一次;当在预设时间范围内,巡检供电模块未接收到同意指令,则选取供电优先值次之的初选用户标记为选中用户;Step 6: Select the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. When the selected user sends a consent command to the patrol power supply module through the mobile terminal, the power supply module is inspected The module controls the inspection drone to fly to the location of the selected user. The selected user provides power to the inspection drone. At the same time, the inspection drone sends the charging start time and charging end time to the inspection power supply module. The number of charging times of the user is increased by one; when the inspection power supply module does not receive the consent command within the preset time range, the primary user with the second priority value of power supply is selected and marked as the selected user;
步骤七:将充电开始时间和充电结束时间进行时长计算,得到单次充电时长;将选中用户的所有单次充电时长进行求和得到充电总时长,并标记为T
Rj;
Step 7: Calculate the charging start time and charging end time to obtain the single charging duration; sum all the single charging durations of the selected users to obtain the total charging duration, and mark it as T Rj ;
步骤八:利用公式H
Rj=T
Rj*c3+P
Rj*c4获取得到选中用户的供电值H
Rj;其中,c3和c4均为预设比例系数;
Step 8: Use the formula H Rj =T Rj *c3+P Rj *c4 to obtain the power supply value H Rj of the selected user; where c3 and c4 are both preset proportional coefficients;
步骤九:巡检供电模块将选中用户的供电值发送至服务器内,服务器将该选中用户的供电值标记为该选中用户对应的多旋翼无人机的供电值。Step 9: The patrol power supply module sends the power supply value of the selected user to the server, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor drone corresponding to the selected user.
本发明的有益效果:The beneficial effects of the present invention:
(1)本发明数据采集模块采集待巡检的输电线路信息并将输电线路信息发送至服务器内,巡检分配模块对待输电线路进行无人机巡检分配,将巡检状态的多旋翼无人机标记为初选无人机,利用公式获取得到初选无人机的巡检值;将巡检值最大的初选无人机标记为巡检无人机,同时获取路径存储模块内的巡检路径以及服务器内存储的该巡检无人机的编号,当智能巡检模块接收到巡检无人机的编号及路径采集指令后,智能巡检模块控制巡检无人机飞行至待巡检输电线路的起始位置,然后,控制巡检无人机沿待巡检输电线路进行飞行并拍摄待巡检输电线路图像并将其发送至服务器内;同时智能巡检模块采集巡检无人机的通信信号强度,将该巡检无人机飞行的起始位置、巡检无人机通信信号强度等于设定阈值的高度以及巡检无人机飞行的结束位置构成巡检路径;通过对巡检无人机进行通信信号进行监测并控制巡检无人机的飞行高度,便于巡检无人机进行电力巡检,同时将巡检的图像传输至后台终端,避免巡检无人机与 传输线路较近,影响巡检无人机的通信传输;(1) The data acquisition module of the present invention collects the transmission line information to be inspected and sends the transmission line information to the server. The inspection distribution module performs drone inspection and distribution on the transmission line to be inspected, and the multi-rotor in the inspection state is unmanned The drone is marked as the primary drone, and the patrol value of the primary drone is obtained by using the formula; the primary drone with the largest inspection value is marked as the patrol drone, and the patrol in the path storage module is obtained at the same time. The inspection path and the number of the inspection drone stored in the server. When the intelligent inspection module receives the number of the inspection drone and the path acquisition instruction, the intelligent inspection module controls the inspection drone to fly to the waiting tour Check the starting position of the transmission line, and then control the inspection drone to fly along the transmission line to be inspected and take the image of the transmission line to be inspected and send it to the server; at the same time, the intelligent inspection module collects and inspects the unmanned The communication signal strength of the patrol drone, the starting position of the patrol drone's flight, the height at which the patrol drone's communication signal strength is equal to the set threshold, and the end position of the patrol drone's flight constitute the inspection path; The patrol drone monitors the communication signal and controls the flight height of the patrol drone, which is convenient for the patrol drone to perform power patrol. At the same time, the patrol image is transmitted to the background terminal to avoid the patrol drone and the The transmission line is close, which affects the communication transmission of the inspection drone;
(2)本发明巡检供电模块对巡检无人机进行电量监测及供电,选取供电优先值最大的初选用户为选中用户,巡检供电模块向选中用户的手机终端发送充电提醒指令,当选中用户通过手机终端发送同意指令至巡检供电模块,则巡检供电模块控制巡检无人机飞行至该选中用户的位置,选中用户对该巡检无人机进行供电,通过巡检供电模块对巡检无人机进行电量监测及供电,便于巡检无人机进行及时供电。(2) The patrol power supply module of the present invention performs power monitoring and power supply on the patrol drone, selects the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile phone terminal of the selected user, and is elected The middle user sends the consent instruction to the inspection power supply module through the mobile phone terminal, then the inspection power supply module controls the inspection drone to fly to the location of the selected user, and the selected user powers the inspection drone through the inspection power supply module The power monitoring and power supply of the inspection drone are convenient for timely power supply of the inspection drone.
附图说明Description of the drawings
下面结合附图对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.
图1是本发明一种多旋翼无人机智能巡检系统的原理框图。Fig. 1 is a schematic block diagram of an intelligent inspection system for a multi-rotor UAV of the present invention.
具体实施方式Detailed ways
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,所描述的实施例仅仅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作出创造性劳动前提下所获得的所有其它实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
请参阅图1所示,本发明为一种多旋翼无人机智能巡检系统,包括数据采集模块、服务器、巡检分配模块、无人机模块、注册登录模块、路径存储模块、智能巡检模块和巡检供电模块;Please refer to Figure 1, the present invention is a multi-rotor UAV intelligent inspection system, including data acquisition module, server, inspection distribution module, UAV module, registration login module, path storage module, intelligent inspection Module and inspection power supply module;
数据采集模块用于采集待巡检的输电线路信息并将输电线路信息发送至服务器内,其中,输电线路信息包括待巡检输电线路的起始位置、结束位置、巡检时间及输电线路的电线高度;The data acquisition module is used to collect the transmission line information to be inspected and send the transmission line information to the server, where the transmission line information includes the starting position, end position, inspection time and wire of the transmission line to be inspected high;
巡检分配模块用于对待输电线路进行无人机巡检分配,具体分配步骤如下:The patrol distribution module is used to perform UAV patrol and distribution on the transmission lines to be processed. The specific distribution steps are as follows:
步骤一:将巡检状态的多旋翼无人机标记为初选无人机,用符号Wi表示, i=1、……、n;Step 1: Mark the multi-rotor UAV in the inspection state as the primary UAV, denoted by the symbol Wi, i=1, ..., n;
步骤二:将初选无人机的位置分别与待巡检输电线路的起始位置、结束位置进行距离差计算,得到起始差距和结束差距,分别标记为G1
Wi、G2
Wi;
Step 2: Calculate the distance difference between the position of the primary drone and the starting position and ending position of the transmission line to be inspected to obtain the starting gap and ending gap, which are marked as G1 Wi and G2 Wi respectively ;
步骤三:获取初选无人机的购买时间并将其与系统当前时间进行时间差计算得到购买时长并标记为T
Wi;
Step 3: Obtain the purchase time of the primary selected drone and calculate the time difference between it and the current time of the system to obtain the purchase time and mark it as T Wi ;
步骤四:设定初选无人机的电池容量记为U
Wi;
Step 4: Set the battery capacity of the primary selected drone as U Wi ;
步骤五:利用公式
获取得到初选无人机的巡检值F
Wi;其中,b1、b2、b3、b4、b5和b6均为预设比例系数,X
Wi为初选无人机的巡检次数;H
Wi为初选无人机的供电值;
Step 5: Use the formula Obtain the inspection value F Wi of the primary selected drone; among them, b1, b2, b3, b4, b5 and b6 are the preset scale factors, X Wi is the number of inspections of the primary drone; H Wi is Preliminary selection of the power supply value of the drone;
步骤六:将巡检值最大的初选无人机标记为巡检无人机,同时获取路径存储模块内的巡检路径以及服务器内存储的该巡检无人机的编号,将巡检路径与待巡检输电线路的起始位置、结束位置进行匹配,当巡检路径的起点和终点与待巡检输电线路的起始位置、结束位置一一重合,则将该巡检路径标记为待执行路径;否,则生成路径采集指令;Step 6: Mark the primary drone with the largest inspection value as the inspection drone, and at the same time obtain the inspection path in the path storage module and the number of the inspection drone stored in the server, and set the inspection path Match with the starting position and ending position of the transmission line to be inspected. When the start and end points of the inspection path coincide with the starting position and end position of the transmission line to be inspected, mark the inspection path as waiting. Execution path; otherwise, generate path collection instructions;
步骤七:巡检分配模块将巡检无人机的编号及待执行路径或路径采集指令发送至智能巡检模块;Step 7: The patrol distribution module sends the number of the patrol drone and the path to be executed or the path collection instruction to the intelligent patrol module;
智能巡检模块用于巡检无人机对待巡检的输电线路进行智能巡检,具体巡检过程如下:The intelligent inspection module is used to inspect the transmission lines to be inspected by the drone for intelligent inspection. The specific inspection process is as follows:
a:当智能巡检模块接收到巡检无人机的编号及待执行路径后,智能巡检模块控制巡检无人机飞行至待巡检输电线路的起始位置,然后,控制巡检无人机依据待执行路径进行飞行,同时拍摄待巡检输电线路图像并将其发送至服务器内;a: After the intelligent inspection module receives the number of the inspection drone and the path to be executed, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies according to the path to be executed, and at the same time photographs the image of the transmission line to be inspected and sends it to the server;
b:当智能巡检模块接收到巡检无人机的编号及路径采集指令后,智能巡检 模块控制巡检无人机飞行至待巡检输电线路的起始位置,然后,控制巡检无人机沿待巡检输电线路进行飞行并拍摄待巡检输电线路图像并将其发送至服务器内;同时智能巡检模块采集巡检无人机的通信信号强度,当通信信号强度低于设定阈值,则控制巡检无人机向上飞行,使其通信信号强度等于设定阈值;当通信信号强度大于设定阈值,则控制巡检无人机向下飞行,使其通信信号强度等于设定阈值;当通信信号强度等于设定阈值,则巡检无人机沿当前高度进行飞行,将该巡检无人机飞行的起始位置、巡检无人机通信信号强度等于设定阈值的高度以及巡检无人机飞行的结束位置构成巡检路径;同时该巡检无人机的巡检次数增加一次,智能巡检模块将巡检路径通过服务器发送至路径存储模块内进行存储;b: After the intelligent inspection module receives the number and path acquisition instruction of the inspection drone, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies along the transmission line to be inspected and shoots the image of the transmission line to be inspected and sends it to the server; at the same time, the intelligent inspection module collects the communication signal strength of the inspection drone. When the communication signal strength is lower than the setting Threshold, the inspection drone will be controlled to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, the inspection drone will be controlled to fly downwards so that the communication signal strength is equal to the set threshold. Threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the starting position of the inspection drone and the communication signal strength of the inspection drone will be equal to the set threshold. And the end position of the inspection drone flight constitutes the inspection path; at the same time, the number of inspections of the inspection drone is increased by one, and the intelligent inspection module sends the inspection path through the server to the path storage module for storage;
注册登录模块用于用户通过手机终端提交用户信息和无人机信息进行注册并将注册成功的用户信息和无人机信息发送至服务器内;用户信息包括姓名、手机号码、位置;无人机信息包括多旋翼无人机的购买时间、电池容量和多旋翼无人机的型号,服务器接收到用户信息和无人机信息后进行存储,同时对该多旋翼无人机进行编号;The registration login module is used by the user to submit user information and drone information through the mobile terminal for registration and send the successfully registered user information and drone information to the server; user information includes name, mobile phone number, location; drone information Including the purchase time of the multi-rotor drone, battery capacity, and the model of the multi-rotor drone. The server stores the user information and drone information after receiving it, and at the same time numbers the multi-rotor drone;
无人机模块用于用户通过手机终端提交多旋翼无人机的使用开始时间和使用结束时间,将无人机模块将巡检时间与用户提交的多旋翼无人机的使用开始时间和使用结束时间进行匹配,当巡检时间在多旋翼无人机的使用开始时间和使用结束时间范围内,且巡检时间与使用结束时间的时间差值大于设定阈值,则将该多旋翼无人机的状态标记为巡检状态;The drone module is used by the user to submit the use start time and end time of the multi-rotor drone through the mobile terminal, and the drone module will inspect the inspection time with the user submitted the use start time and end of the use of the multi-rotor drone Match the time. When the inspection time is within the range of the use start time and end time of the multi-rotor drone, and the time difference between the inspection time and the end time is greater than the set threshold, the multi-rotor drone The status of is marked as inspection status;
巡检供电模块用于对巡检无人机进行电量监测及供电,具体步骤如下:The inspection power supply module is used to monitor and supply power to the inspection drone. The specific steps are as follows:
步骤一:获取巡检无人机的电量,当电量值等于设定阈值,则将该巡检无人机进行供电分配;Step 1: Obtain the power of the patrol drone. When the power value is equal to the set threshold, then the patrol drone will be allocated power;
步骤二:获取巡检无人机的当前位置,获取当前位置再预设范围内的用户将其标记为初选用户;Step 2: Obtain the current position of the inspection drone, obtain the current position and mark the user within the preset range as the primary user;
步骤三:将初选用户标记为Rj,j=1、……、n;将巡检无人机的当前位置于初选用户的位置进行距离差计算得到供电距离,并标记为E
Rj;
Step 3: Mark the primary user as Rj, j=1, ..., n; calculate the distance difference between the current position of the patrol drone and the primary user’s location to obtain the power supply distance, and mark it as E Rj ;
步骤四:获取初选用户的充电次数并标记为P
Rj;
Step 4: Obtain the charging times of the primary users and mark them as P Rj ;
步骤五:利用公式
获取得到初选用户的供电优先值L
Rj;其中,c1和c2均为预设比例系数;
Step 5: Use the formula Obtain the power supply priority value L Rj of the primary selected user; where c1 and c2 are both preset proportional coefficients;
步骤六:选取供电优先值最大的初选用户为选中用户,巡检供电模块向选中用户的手机终端发送充电提醒指令,当选中用户通过手机终端发送同意指令至巡检供电模块,则巡检供电模块控制巡检无人机飞行至该选中用户的位置,选中用户对该巡检无人机进行供电,同时巡检无人机将充电开始时间和充电结束时间发送巡检供电模块,同时该选中用户的充电次数增加一次;当在预设时间范围内,巡检供电模块未接收到同意指令,则选取供电优先值次之的初选用户标记为选中用户;Step 6: Select the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. When the selected user sends a consent command to the patrol power supply module through the mobile terminal, the power supply module is inspected The module controls the inspection drone to fly to the location of the selected user, and the selected user provides power to the inspection drone. At the same time, the inspection drone sends the charging start time and charging end time to the inspection power supply module. The number of charging times of the user is increased by one; when the inspection power supply module does not receive the consent command within the preset time range, the primary user with the second priority value of power supply is selected and marked as the selected user;
步骤七:将充电开始时间和充电结束时间进行时长计算,得到单次充电时长;将选中用户的所有单次充电时长进行求和得到充电总时长,并标记为T
Rj;
Step 7: Calculate the charging start time and charging end time to obtain the single charging duration; sum all the single charging durations of the selected users to obtain the total charging duration, and mark it as T Rj ;
步骤八:利用公式H
Rj=T
Rj*c3+P
Rj*c4获取得到选中用户的供电值H
Rj;其中,c3和c4均为预设比例系数;
Step 8: Use the formula H Rj =T Rj *c3+P Rj *c4 to obtain the power supply value H Rj of the selected user; where c3 and c4 are both preset proportional coefficients;
步骤九:巡检供电模块将选中用户的供电值发送至服务器内,服务器将该选中用户的供电值标记为该选中用户对应的多旋翼无人机的供电值;用户与多旋翼无人机一一对应;通过巡检供电模块对巡检无人机进行电量监测及供电,便于巡检无人机进行及时供电。Step 9: The patrol power supply module sends the power supply value of the selected user to the server, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor drone corresponding to the selected user; the user is the same as the multi-rotor drone One correspondence: The power monitoring and power supply of the patrol drone are carried out through the patrol power supply module to facilitate the timely power supply of the patrol drone.
本发明的工作原理:数据采集模块用于采集待巡检的输电线路信息并将输 电线路信息发送至服务器内,巡检分配模块用于对待输电线路进行无人机巡检分配,将巡检状态的多旋翼无人机标记为初选无人机,将初选无人机的位置分别与待巡检输电线路的起始位置、结束位置进行距离差计算,得到起始差距和结束差距,获取初选无人机的购买时间并将其与系统当前时间进行时间差计算得到购买时长,利用公式
获取得到初选无人机的巡检值F
Wi;将巡检值最大的初选无人机标记为巡检无人机,同时获取路径存储模块内的巡检路径以及服务器内存储的该巡检无人机的编号,将巡检路径与待巡检输电线路的起始位置、结束位置进行匹配,当巡检路径的起点和终点与待巡检输电线路的起始位置、结束位置一一重合,则将该巡检路径标记为待执行路径;否,则生成路径采集指令;巡检分配模块将巡检无人机的编号及待执行路径或路径采集指令发送至智能巡检模块;智能巡检模块用于巡检无人机对待巡检的输电线路进行智能巡检,当智能巡检模块接收到巡检无人机的编号及路径采集指令后,智能巡检模块控制巡检无人机飞行至待巡检输电线路的起始位置,然后,控制巡检无人机沿待巡检输电线路进行飞行并拍摄待巡检输电线路图像并将其发送至服务器内;同时智能巡检模块采集巡检无人机的通信信号强度,当通信信号强度低于设定阈值,则控制巡检无人机向上飞行,使其通信信号强度等于设定阈值;当通信信号强度大于设定阈值,则控制巡检无人机向下飞行,使其通信信号强度等于设定阈值;当通信信号强度等于设定阈值,则巡检无人机沿当前高度进行飞行,将该巡检无人机飞行的起始位置、巡检无人机通信信号强度等于设定阈值的高度以及巡检无人机飞行的结束位置构成巡检路径;通过对巡检无人机进行通信信号进行监测并控制巡检无人机的飞行高度,便于巡检无人机进行电力巡检,同时将巡检的图像传输至后台终端,避免巡检无人机与传输线路较近,影响巡检无人机的通信传输,巡 检供电模块用于对巡检无人机进行电量监测及供电,选取供电优先值最大的初选用户为选中用户,巡检供电模块向选中用户的手机终端发送充电提醒指令,当选中用户通过手机终端发送同意指令至巡检供电模块,则巡检供电模块控制巡检无人机飞行至该选中用户的位置,选中用户对该巡检无人机进行供电,通过巡检供电模块对巡检无人机进行电量监测及供电,便于巡检无人机进行及时供电。
The working principle of the present invention: the data acquisition module is used to collect the transmission line information to be inspected and send the transmission line information to the server; The multi-rotor UAV is marked as the primary UAV, and the distance difference between the position of the primary UAV and the starting and ending positions of the transmission line to be inspected is calculated to obtain the initial gap and the end gap, and obtain Preliminarily select the purchase time of the drone and calculate the time difference between it and the current time of the system to obtain the purchase time, using the formula Obtain the inspection value F Wi of the primary drone; mark the primary drone with the largest inspection value as the inspection drone, and acquire the inspection path in the path storage module and the inspection path stored in the server. Check the number of the drone, and match the inspection path with the starting and ending positions of the transmission line to be inspected. When the starting and ending points of the inspection path and the starting and ending positions of the transmission line to be inspected are one by one If coincide, the inspection path is marked as a path to be executed; if not, a path collection instruction is generated; the inspection distribution module sends the number of the inspection drone and the path to be executed or the path acquisition instruction to the intelligent inspection module; The inspection module is used to inspect the transmission lines of the drone to be inspected for intelligent inspection. When the intelligent inspection module receives the number of the inspection drone and the path acquisition instruction, the intelligent inspection module controls the inspection without people The aircraft flies to the starting position of the transmission line to be inspected, and then controls the inspection drone to fly along the transmission line to be inspected and take images of the transmission line to be inspected and send it to the server; at the same time, the intelligent inspection module Collect the communication signal strength of the inspection drone. When the communication signal strength is lower than the set threshold, control the inspection drone to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, Then control the inspection drone to fly down so that the communication signal strength is equal to the set threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the inspection drone will fly The starting position of the inspection drone, the height at which the communication signal strength of the inspection drone is equal to the set threshold, and the end position of the inspection drone flight constitute the inspection path; the inspection drone is monitored and controlled by the communication signal The flying height of the drone is convenient for the inspection drone to perform power inspections, and at the same time, the inspection images are transmitted to the background terminal to avoid the proximity of the inspection drone and the transmission line, which affects the communication transmission of the inspection drone , The patrol power supply module is used to monitor and supply power to the patrol drone. The primary user with the largest power supply priority value is selected as the selected user. The patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. Send the consent instruction to the inspection power supply module through the mobile terminal, then the inspection power supply module controls the inspection drone to fly to the location of the selected user, the selected user supplies power to the inspection drone, and the inspection power supply module provides The inspection drone performs power monitoring and power supply, which is convenient for the inspection drone to provide timely power supply.
以上内容仅仅是对本发明结构所作的举例和说明,所属本技术领域的技术人员对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代,只要不偏离发明的结构或者超越本权利要求书所定义的范围,均应属于本发明的保护范围。The above content is merely an example and description of the structure of the present invention. Those skilled in the art make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the structure of the invention or Anything beyond the scope defined by the claims shall belong to the protection scope of the present invention.