WO2024093030A1 - Système et procédé destinés à un véhicule aérien sans pilote pour l'inspection d'une ligne de transport d'énergie - Google Patents

Système et procédé destinés à un véhicule aérien sans pilote pour l'inspection d'une ligne de transport d'énergie Download PDF

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Publication number
WO2024093030A1
WO2024093030A1 PCT/CN2023/072486 CN2023072486W WO2024093030A1 WO 2024093030 A1 WO2024093030 A1 WO 2024093030A1 CN 2023072486 W CN2023072486 W CN 2023072486W WO 2024093030 A1 WO2024093030 A1 WO 2024093030A1
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WO
WIPO (PCT)
Prior art keywords
transmission line
uav
power transmission
coordinate
flight
Prior art date
Application number
PCT/CN2023/072486
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English (en)
Chinese (zh)
Inventor
廖如超
李端姣
李雄刚
陈浩
柳亦钢
刘高
张峰
张英
郭锦超
丰江波
饶成成
李国强
陈赟
Original Assignee
广东电网有限责任公司
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Publication date
Application filed by 广东电网有限责任公司 filed Critical 广东电网有限责任公司
Publication of WO2024093030A1 publication Critical patent/WO2024093030A1/fr

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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

Definitions

  • the present application relates to the field of drone inspection technology, and in particular to a drone power transmission line inspection system and method.
  • Ultra-high voltage transmission lines refer to the transmission of electric energy at voltage levels of ⁇ 800 kV and above for direct current and 1000 kV and above for alternating current. Their characteristics are that they can greatly improve the transmission capacity and realize high-power medium and long-distance transmission.
  • the present application provides a UAV power transmission line inspection system and method to solve the technical problem that current UAV inspections are affected by the complex magnetic field environment of the power transmission lines.
  • the present application provides a UAV power transmission line inspection system, comprising a reflective ball installed on the power transmission line, and an inspection device and a flight control module carried on the UAV;
  • the inspection device comprises a laser tracker, a laser dot matrix transmitter and a camera device, and the laser dot matrix transmitter is communicatively connected with the flight control module;
  • the laser tracker is used to track the reflective ball during the flight of the drone.
  • a coordinate system is established with the reflection ball as the coordinate origin to obtain the coordinate data of the UAV during flight;
  • the laser dot matrix transmitter is used to calculate the relative position data between the UAV and the power transmission line in real time;
  • the flight control module is used to perform flight control on the UAV based on the relative position data when the coordinate data meets the preset coordinate conditions;
  • the camera device is used to collect inspection image data of the power transmission line during the flight of the drone.
  • the flight control module includes:
  • a judgment unit used to determine whether the coordinate data meets a preset coordinate condition
  • the course correction unit is used to correct the flight course of the UAV according to the relative position data and preset relative position data when the coordinate data meets the preset coordinate conditions.
  • the determining unit is specifically configured to:
  • the preset coordinate set includes a plurality of preset coordinate data
  • the preset coordinate set contains preset coordinate data matching the coordinate data, it is determined that the coordinate data satisfies the preset coordinate condition.
  • the drone further includes a monitoring module communicatively connected to the flight control module, wherein the monitoring module is configured to monitor a temperature status of the flight control module.
  • the monitoring module includes:
  • Temperature monitoring unit used to monitor the actual temperature curve of the flight control module in real time
  • a temperature difference calculation unit used to calculate the temperature difference between the actual temperature curve and the preset temperature curve
  • the first state determination unit is used to determine the temperature state of the flight control module according to the temperature difference and the temperature difference threshold.
  • the monitoring module is further used to monitor the power consumption status of a battery, and the battery is used to power the drone;
  • the monitoring module also includes:
  • Energy consumption monitoring unit used to monitor the actual energy consumption curve of the battery in real time
  • An energy consumption difference calculation unit used to calculate the energy consumption difference between the actual energy consumption curve and the preset energy consumption curve
  • the second state determination unit is used to determine the energy consumption state of the battery according to the energy consumption difference value and the energy consumption difference threshold.
  • the drone is also equipped with a positioning module for obtaining the latitude and longitude coordinate data of the drone.
  • the present application further provides a UAV power transmission line inspection method, which is applied to the UAV power transmission line inspection system described in the first aspect, and the method includes:
  • the flight control module controls the flight of the UAV based on the relative position data
  • inspection image data of the power transmission line is collected by means of a camera.
  • the present application also provides a drone device, comprising a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the drone power transmission line inspection method as described in the second aspect is implemented.
  • the present application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the drone power transmission line inspection method as described in the second aspect.
  • the laser tracker tracks the reflective ball during the flight of the UAV, and establishes a coordinate system with the reflective ball as the coordinate origin to obtain the coordinate data of the UAV during the flight, so as to realize the initial positioning of the UAV; and then the laser dot matrix transmitter calculates the distance between the UAV and the reflective ball in real time.
  • the relative position data between the transmission lines are obtained, and when the coordinate data meets the preset coordinate conditions, the flight control module controls the flight of the UAV based on the relative position data, so as to use the transmission line as a position reference object, so that the UAV flies along the line while maintaining a relative position with the transmission line, so that the UAV can be accurately positioned even when it is separated from the positioning module due to electromagnetic interference, effectively preventing the problem of inaccurate positioning caused by electromagnetic field interference; finally, the camera device collects the inspection image data of the transmission line during the flight of the UAV.
  • FIG1 is a schematic diagram of the structure of a UAV power transmission line inspection system according to an embodiment of the present application.
  • FIG2 is a schematic diagram of the structure of a UAV power transmission line inspection system shown in another embodiment of the present application.
  • FIG3 is a flow chart of a method for inspecting power transmission lines using a drone according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the structure of a drone device according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of the structure of a UAV power transmission line inspection system provided in an embodiment of the present application.
  • the UAV power transmission line inspection system includes a reflective ball 11 installed on the transmission line 1, and an inspection device 21 and a flight control module 22 mounted on a UAV 2;
  • the inspection device 21 includes a laser tracker 211, a laser dot matrix transmitter 212 and a camera device 213, and the laser dot matrix transmitter 212 is in communication connection with the flight control module 22;
  • the laser tracker 211 is used to track the reflective ball 11 during the flight of the drone 2, and to establish a coordinate system with the reflective ball 11 as the coordinate origin to obtain coordinate data of the drone 2 during the flight;
  • the laser dot matrix transmitter 212 is used to calculate the distance between the drone 2 and the power transmission line 1 in real time. Relative position data;
  • the flight control module 22 is used to perform flight control on the UAV 2 based on the relative position data when the coordinate data meets the preset coordinate conditions;
  • the camera device 213 is used to collect inspection image data of the power transmission line 1 during the flight of the drone 2.
  • the transmission towers there are multiple transmission towers on the transmission line, which are connected by transmission lines, and reflective balls are fixedly installed on the transmission towers.
  • the reflective balls are small balls with mirrors, and the laser tracker is used to track the reflective balls to guide the drone to the vicinity of the reflective balls, thereby triggering the drone to cruise automatically.
  • the camera device may be a camera, and its camera parameters include but are not limited to focal length, clarity and zoom.
  • the images taken by the camera are processed by the flight control module and then transmitted to the controller by the drone communication module and the ground communication module.
  • the laser tracker includes an interferometer, a rangefinder and an angle measurement system, which can be specifically Leica-AT901.
  • the laser tracker controls the movement of the light-tracking reflective ball through a dual-axis rotation drive mechanism, and at the same time measures the distance to the reflective ball and the angular coordinates of the rotation axis through the rangefinder, thereby determining the three-dimensional coordinates of the reflective ball.
  • the laser dot matrix transmitter obtains the spatial information of the transmission line by diffusely emitting pulsed lasers and receiving scattered light waves after contact with the transmission line, thereby calculating the relative position data between the drone and the transmission line (including but not limited to the relative distance and relative angle), thereby enabling the drone to fly along the transmission line without the positioning module.
  • the three-dimensional coordinate data Ti and the route data Si are stored in a database 4, and the coordinate data Ti corresponds to the route data Si one by one, that is, one coordinate data Ti corresponds to one route data Si, and the database exchanges data with the flight control module through the communication module of the drone.
  • the laser tracker automatically tracks the reflective ball to guide the drone to the vicinity of the reflective ball.
  • the drone is far away from the power transmission line, and the positioning module can record the current coordinate data as T.
  • the operator controls the drone to the vicinity of the power transmission line and tracks the reflective ball through the laser tracker.
  • Shoot the ball, and establish an angular coordinate system with the reflection ball as the coordinate origin record the three-dimensional coordinate data S in real time, and start the laser dot matrix transmitter to aim at the transmission line.
  • the route data can be corrected in real time, so that the drone can fly along the line while keeping a distance from the transmission line, so that the drone can also fly along the transmission line when it is separated from the positioning module, and prevent the positioning module from being interfered by the electromagnetic field of the transmission line and causing inaccurate positioning.
  • the three-dimensional coordinate data T and the route data set S are stored in the three-coordinate data set Ti and the route data set Si in a one-to-one correspondence.
  • the drone arrives near the three-coordinate data T again, it can automatically track to the coordinate data T and retrieve the corresponding route data S, automatically completing the inspection of the transmission line, improving the automation rate of the inspection work and reducing the unit's employment costs.
  • the flight control module comprises:
  • a judgment unit used to determine whether the coordinate data meets a preset coordinate condition
  • the route correction unit is used to correct the flight route of the UAV 2 according to the relative position data and preset relative position data when the coordinate data meets the preset coordinate conditions.
  • the judging unit is specifically configured to:
  • the preset coordinate set includes a plurality of preset coordinate data
  • the preset coordinate set contains preset coordinate data matching the coordinate data, it is determined that the coordinate data satisfies the preset coordinate condition.
  • the drone and the controller are started, the autonomous inspection task is imported into the controller, and the inspection task is sent to the flight control module of the drone through the controller; the drone is driven to the transmission tower closest to the transmission line to be measured through the flight control module, the laser tracker is started to track the reflective ball, and the three-dimensional coordinate data T at this time is recorded; the flight control module is connected to the database, and the current coordinate data T is compared with the database coordinate data Ti, and the coordinate data similar to the current coordinate data T in several databases Ti are extracted; it is determined whether the coordinate data of Ti and T are less than the threshold value, if so, the route data Si corresponding to Ti in the database is retrieved, and the cruise is completed autonomously, if not, the user operates the drone to move along the transmission line and starts the laser dot matrix transmitter; the relative distance and relative angle between the drone and the transmission line are obtained through the laser dot matrix transmitter, and when the relative distance is greater than the maximum distance value or less than the minimum distance value When the user operates the U
  • FIG2 shows a schematic diagram of the structure of another UAV power transmission line inspection system provided in an embodiment of the present application.
  • the UAV 2 also includes a battery 23 and a monitoring module 24 that is communicatively connected to the flight control module 22, the monitoring module 23 is used to monitor the temperature state of the flight control module 22, and the battery 23 is used to power the UAV 2.
  • the flight control module is connected to the monitoring module and the battery respectively.
  • the monitoring module is used to monitor whether the heating of the flight control module is within a normal range, and is also used to monitor whether the power consumption of the battery is normal.
  • the monitoring module 24 includes:
  • a temperature monitoring unit used to monitor the actual temperature curve of the flight control module 22 in real time
  • a temperature difference calculation unit used to calculate the temperature difference between the actual temperature curve and the preset temperature curve
  • the first state determination unit is used to determine the temperature state of the flight control module 22 according to the temperature difference and the temperature difference threshold.
  • the process of the monitoring module monitoring the temperature of the flight control module is as follows:
  • the monitoring module calculates the temperature difference ⁇ T and compares ⁇ T with the temperature difference threshold ⁇ T 0 :
  • t is the running time of the flight control module.
  • the standard temperature curve is measured in advance and consists of several data.
  • the ambient temperature segmentation interval can be 1°C, such as 24.5°C-25.5°C as a segment.
  • the specific ambient temperature segmentation can be set according to the climatic conditions of different regions.
  • the monitoring module further includes:
  • An energy consumption monitoring unit used to monitor the actual energy consumption curve of the battery 23 in real time
  • An energy consumption difference calculation unit used to calculate the energy consumption difference between the actual energy consumption curve and the preset energy consumption curve
  • the second state determination unit is used to determine the energy consumption state of the battery 23 according to the energy consumption difference value and the energy consumption difference threshold.
  • the monitoring module when the flight control module is in an abnormal temperature state, the monitoring module will further monitor the battery power consumption for the purpose of protecting the battery and managing the power.
  • the process of the monitoring module monitoring the battery power consumption is as follows:
  • the monitoring module calculates the energy consumption difference ⁇ W and compares ⁇ W with the energy consumption difference threshold ⁇ W 0 :
  • t1 is the battery operating time
  • the setting method of the standard energy consumption curve can refer to the standard temperature curve, which will not be repeated here.
  • the current battery energy consumption is determined.
  • ⁇ W ⁇ ⁇ W 0 the whole machine is in a normal energy consumption state.
  • ⁇ W> ⁇ W 0 it means that the energy consumption of the whole machine is in an abnormal state.
  • the monitoring module sends the abnormal information to the ground control device in real time.
  • the monitoring module sends the abnormal information to the ground control device in real time and plans the return route.
  • the present application uses a monitoring module to monitor whether the heat generation of the flight control module is within a normal range, and at the same time to monitor whether the battery power consumption is normal.
  • the monitoring module When the flight control module is in an abnormal temperature state, the monitoring module will send the abnormal information to the ground control equipment in real time.
  • the monitoring module When the energy consumption of the entire machine is in an abnormal state, the monitoring module will send the abnormal information to the ground control equipment in real time and plan the return route, thereby extending the service life of the equipment and reducing the risk of the drone losing contact.
  • the drone is also equipped with a positioning module 25 and a drone communication module 26 for acquiring the latitude and longitude coordinate data of the drone to meet the positioning requirements of the drone in a normal state.
  • the UAV power transmission line inspection system also includes ground equipment 3, which includes a controller 31 and a ground communication module 32.
  • the controller 31 is connected to the ground communication module 32, and the controller 31 exchanges data with the flight control module 22 through the ground communication module 32 and the UAV communication module 26.
  • FIG. 3 shows a schematic flow chart of a UAV power transmission line inspection method provided in an embodiment of the present application. For ease of explanation, only the parts related to this embodiment are shown.
  • the UAV power transmission line inspection method of this embodiment includes steps S301 to S304, which are described in detail as follows:
  • Step S301 tracking a reflective ball on a transmission line by a laser tracker during the flight of the UAV, and establishing a coordinate system with the reflective ball as the origin of the coordinates to obtain coordinate data of the UAV during the flight;
  • Step S302 using a laser dot matrix transmitter to calculate in real time the distance between the drone and the power transmission line.
  • Step S303 when the coordinate data meets the preset coordinate conditions, the flight control module performs flight control on the UAV based on the relative position data;
  • Step S304 collecting inspection image data of the power transmission line by means of a camera during the flight of the UAV.
  • step 303 includes:
  • the flight route of the UAV is corrected according to the relative position data and the preset relative position data.
  • determining whether the coordinate data satisfies a preset coordinate condition includes:
  • the preset coordinate set includes a plurality of preset coordinate data
  • the preset coordinate set contains preset coordinate data matching the coordinate data, it is determined that the coordinate data satisfies the preset coordinate condition.
  • the drone further includes a monitoring module that is communicatively connected to the flight control module, and the temperature status of the flight control module is monitored by the monitoring module.
  • monitoring the temperature state of the flight control module by the monitoring module includes:
  • the temperature state of the flight control module is determined according to the temperature difference and the temperature difference threshold.
  • monitoring the power consumption state of the battery by the monitoring module includes:
  • the energy consumption state of the battery is determined according to the energy consumption difference and the energy consumption difference threshold.
  • the drone is also equipped with a positioning module, and the latitude and longitude coordinate data of the drone is obtained through the positioning module.
  • the above-mentioned UAV power transmission line inspection system can implement the UAV power transmission line inspection method of the above-mentioned method embodiment.
  • the options in the above-mentioned system embodiment are also applicable to this embodiment and will not be described in detail here.
  • the rest of the contents of the embodiment of this application can refer to the contents of the above-mentioned method embodiment, and will not be repeated in this embodiment.
  • FIG4 is a schematic diagram of the structure of a drone device provided by an embodiment of the present application.
  • the drone device 4 of this embodiment includes: at least one processor 40 (only one is shown in FIG4 ), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40.
  • the processor 40 executes the computer program 42, the steps in any of the above method embodiments are implemented.
  • the drone device 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will appreciate that FIG. 4 is merely an example of the drone device 4 and does not limit the drone device 4.
  • the drone device 4 may include more or fewer components than shown in the figure, or may combine certain components, or different components, and may also include input and output devices, network access devices, etc.
  • the processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the memory 41 may be an internal storage unit of the drone device 4, such as a hard disk or memory of the drone device 4. In other embodiments, the memory 41 may also be an external storage device of the drone device 4, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the drone device 4. Furthermore, the memory 41 may also include both an internal storage unit and an external storage device of the drone device 4.
  • the memory 41 is used to store operating systems, applications, boot loaders (BootLoader), data and other programs, such as the program code of the computer program.
  • the memory 41 may also be used to temporarily store data that has been output or is to be output. The data.
  • an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.
  • An embodiment of the present application provides a computer program product.
  • the computer program product When the computer program product is run on a drone device, the drone device implements the steps in the above-mentioned method embodiments when executing the computer program product.
  • each box in the flow chart or block diagram can represent a module, a program segment or a part of a code
  • the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function.
  • the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including several instructions for enabling a drone device to perform all or part of the steps of the methods described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Système et procédé destinés à un véhicule aérien sans pilote pour l'inspection d'une ligne de transport d'énergie. Le procédé consiste : à suivre une balle réfléchissante au moyen d'un dispositif de suivi laser pendant le vol d'un véhicule aérien sans pilote, et à établir un système de coordonnées avec la balle réfléchissante en tant qu'origine de coordonnées, de façon à obtenir des données de coordonnées du véhicule aérien sans pilote pendant le vol, ce qui permet de réaliser un positionnement initial du véhicule aérien sans pilote ; puis à calculer, au moyen d'un émetteur à matrice de points laser, des données d'emplacement du véhicule aérien sans pilote par rapport à une ligne de transport d'énergie en temps réel ; lorsque les données de coordonnées satisfont une condition de coordonnées prédéfinie, à effectuer une commande de vol sur le véhicule aérien sans pilote au moyen d'un module de commande de vol et en fonction des données d'emplacement relatif, de façon à utiliser la ligne de transport d'énergie en tant qu'objet de référence d'emplacement et à amener le véhicule aérien sans pilote à voler le long de la ligne de transport d'énergie tout en maintenant l'emplacement du véhicule aérien sans pilote par rapport à la ligne de transport d'énergie, de telle sorte que le véhicule aérien sans pilote puisse toujours être positionné avec précision lorsqu'un module de positionnement du véhicule aérien sans pilote est indisponible en raison d'une interférence électromagnétique, ce qui permet d'empêcher efficacement le problème de positionnement imprécis provoqué par une interférence de champ électromagnétique ; et enfin, à collecter des données d'image d'inspection de la ligne de transport d'énergie au moyen d'un dispositif photographique pendant le vol du véhicule aérien sans pilote.
PCT/CN2023/072486 2022-11-04 2023-01-17 Système et procédé destinés à un véhicule aérien sans pilote pour l'inspection d'une ligne de transport d'énergie WO2024093030A1 (fr)

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CN202211395027.6A CN115629619A (zh) 2022-11-04 2022-11-04 无人机输电线路巡检系统及方法
CN202211395027.6 2022-11-04

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CN118732709A (zh) * 2024-09-04 2024-10-01 智洋创新科技股份有限公司 一种基于预定航线和自主控制的无人机机群河道智能巡检方法、系统及计算机可读存储介质

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CN118642513A (zh) * 2024-08-09 2024-09-13 江苏泽宇智能电力股份有限公司 基于视觉避障技术的输电线路巡检无人机系统
CN118732709A (zh) * 2024-09-04 2024-10-01 智洋创新科技股份有限公司 一种基于预定航线和自主控制的无人机机群河道智能巡检方法、系统及计算机可读存储介质

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