CN107402580A - Power network inspection automatic mode based on unmanned plane - Google Patents
Power network inspection automatic mode based on unmanned plane Download PDFInfo
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- CN107402580A CN107402580A CN201710584182.5A CN201710584182A CN107402580A CN 107402580 A CN107402580 A CN 107402580A CN 201710584182 A CN201710584182 A CN 201710584182A CN 107402580 A CN107402580 A CN 107402580A
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- 238000007689 inspection Methods 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 claims abstract description 21
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- 230000001681 protective effect Effects 0.000 claims description 7
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- 230000009897 systematic effect Effects 0.000 abstract description 2
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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
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Abstract
The present invention relates to the electric inspection process field of unmanned plane, more particularly to the power network inspection automatic mode based on unmanned plane；The present invention utilizes the method for inspecting of partial node, the continuation of the journey deficiency that occurs for unmanned plane automatic detecting, positioning precision is inaccurate, shooting effect is bad and shooting after the placement issue of unmanned plane propose systematic solution, realize that power network inspection automates；It can completely substitute manual inspection using this method, realize comprehensive automatic power inspection, people is freed from electric inspection process.
Description
Technical field
The present invention relates to the electric inspection process field of unmanned plane, more particularly to the power network inspection automation side based on unmanned plane
Method.
Background technology
With the continuous development of scientific technology, grid equipment automation, intelligentized trend can not must be kept off.In conventional electricity
In the inspection for netting electric tower circuit, all it is manually to be investigated one by one along inspection circuit, so generally requires to spend substantial amounts of manpower
And the time, and efficiency is low.In recent years, unmanned plane is slowly used on electric inspection process, so can accordingly be reduced really
Some human costs, still, the current unmanned electro-mechanical force of inspection patrol the operation for still depending on people, and the data of inspection also still need
Artificial record and storage, its inspection still consume manpower and limited efficacy, do not reach automaticity far.
But want to realize the power network inspection automation of unmanned plane at present, following technical problem be present：
1st, power network inspection circuit is very long, and the battery durable ability of unmanned plane is limited, allows unmanned plane to complete whole piece grid line
The inspection on road has difficulties；
2nd, unmanned plane typically uses GPS location, and GPS location precision does not reach inspection the required accuracy, and by environment and position
The influence put is very big, and power network line causes to hold very much when unmanned plane automatic detecting through being normally placed in some remote places
Easily get lost；
3rd, unmanned plane can be easy to fly according to the path set and shoot along road, but be difficult control shooting
Effect, such as receive the influence of windage or volume unmanned plane performance itself etc., even if so unmanned plane can be shot on the way
Electric network information, it can not but ensure that captured information is all effective；
4th, because the polling period of power network inspection diverse location is different, also need to make the appropriate adjustments inspection circuit sometimes, institute
After with shooting, how to dispose unmanned plane is also the problem of needing to consider.
Therefore, to realize that the power network inspection of unmanned plane is automated, it is necessary to overcome the technical barrier of the above.
The content of the invention
It is an object of the invention to solve above-mentioned technical barrier, realize unmanned plane power network inspection automation, by people from
Electric inspection process frees, and increases substantially electric inspection process efficiency.
Power network inspection automatic mode provided by the invention based on unmanned plane, it is characterised in that comprise the following steps：
A1：Terminal is controlled to make inspection circuit, and be sent to unmanned plane using tower bar as node；
A2：Unmanned plane on tower bar airplane parking area, RFID firing frequencies card reader and RFID electricity set by node are set by interior
Subtab matches, if matching unmanned plane is placed exactly in first node, unmanned plane opens camera inspection, if matched
Not in first node, then unmanned plane flies to first node unmanned plane, is then turned on camera and starts inspection；
A3：Unmanned plane flies to section point from first node along grid line, and shoots video on the way, and records photographing simultaneously
Shi Yuntai real-time swing angle, the real-time coordinates of unmanned plane and unmanned plane balance detection instrument survey real time data；
A4：After unmanned plane reaches section point, the real-time swing angle of head, unmanned plane that step A3 is recorded are sat in real time
Mark and unmanned plane balance detection real time data are sent to control terminal together with clapped one piece of content；
A5：After control terminal receives data, head swing angle, the unmanned plane elements of a fix and equilibristat are detected into data
Corresponding photographing information generating function relation, then by photographing information and the function of generation and prior default photographing information and preset
Function contrast, generate feedback function, draw feedback opinion；
A6：If feedback opinion is beyond scope is received, i.e. unmanned plane is unavailable in key position photographing information, then to nobody
Machine sends signal, orders it to re-shoot；
A7：Unmanned plane makes a return voyage to coordinate points when shooting unintelligible, according to feedback function data, adjusts the angle of rotation of head
Degree and equilibristat predetermined angular, start to shoot；
A8：Unmanned plane is shot in feedback opinion after coordinate location one by one, and fly to section point, and feedback photographed data is sent
Give control terminal；
A9：Control terminal continues executing with step A5-A8, until feedback opinion entirely falls in and receives scope, then into following
Step：
A10：Unmanned plane flies to the 3rd node from section point, and repeat the above steps A3-A9；
A11：According to above-mentioned steps A3-A10, so on up to final node, unmanned plane stops the shutdown of node to the end
Level ground, inspection terminate.
As the further optimization of the present invention, the step of unmanned plane obtains the elements of a fix, includes：
B1：Beacon base stations are arranged in each tower bar, base station ceaselessly sends the broadcasting packet of certain power；
B2：Unmanned plane receives the broadcasting packet sent beacon base stations with the Bluetooth terminal equipment carried；
B3：Unmanned plane measured message power, and be taken in the function of power attenuation and distance relation, calculate nobody
Machine and the distance of beacon base stations, recycle the pressure-altitude sensor carried to measure height, finally give the elements of a fix；
As the further optimization of the present invention, the unmanned plane only receives beacon set by former and later two nodes of present position
The message that base station is sent；
As further optimization of the invention, the bluetooth is bluetooth 4.0 or bluetooth 5.0.
As further optimization of the invention, the airplane parking area is provided with protective cover；The protective cover is provided with automatically-controlled door, nobody
Machine can control automatically-controlled door folding when stopping or setting sail；Automatic charge device is additionally provided with the airplane parking area, it is automatic for unmanned plane
Charging.
It is as follows as further optimization of the invention, in addition to unmanned plane automatic recharging method, step：
C1：Unmanned plane does real-time monitoring during inspection to self-contained battery electricity；
C2：When unmanned plane self-contained battery electricity is less than setting lowest threshold, after unmanned plane inspection to next tower bar, stop
Voluntarily charged to the tower bar airplane parking area.
C3：After automatic charge device detects the charging instruction that unmanned plane is sent, its charging is given；
C4；When battery electric quantity checking device detects that electricity is full in unmanned plane, automatic charge device powers off, unmanned plane weight
Newly take off, continue inspection.
The beneficial effects of the invention are as follows：
The present invention provides the power network inspection automatic mode based on unmanned plane, can completely be substituted using this method and manually patrolled
Inspection, realizes comprehensive automatic power inspection, people is freed from electric inspection process.The present invention utilizes the inspection side of partial node
Method, the continuation of the journey deficiency occurred for unmanned plane automatic detecting, positioning precision is inaccurate, shooting effect is bad and shooting after unmanned plane peace
The problem of putting is made that systematic solution, realizes that power network inspection automates.
Embodiment
The present invention is elaborated below in conjunction with specific embodiment.
It is provided by the invention, the power network inspection automatic mode based on unmanned plane, it is characterised in that comprise the following steps：
A1：Terminal is controlled to make inspection circuit, and be sent to unmanned plane using tower bar as node；
It should be noted that the node can be that each tower bar is all set into node or every several
Tower bar is set to node, does not have one section of pitch can be with identical, can also be different, depending on concrete condition；
A2：Unmanned plane on tower bar airplane parking area, RFID firing frequencies card reader and RFID electricity set by node are set by interior
Subtab matches, if matching unmanned plane is placed exactly in first node, unmanned plane opens camera inspection, if matched
Not in first node, then unmanned plane flies to first node unmanned plane, is then turned on camera and starts inspection；
Camera is then turned on after confirming up to first node, camera and memory space can be effectively utilized；
A3：Unmanned plane flies to section point from first node along grid line, and shoots video on the way, and records photographing simultaneously
Shi Yuntai real-time swing angle, the real-time coordinates of unmanned plane and unmanned plane balance detection instrument survey real time data；
The unmanned plane balance detection instrument can be gyroscope, and balance detection instrument mainly detects unmanned plane right moment for camera body
, need to be by the angle because the angle can influence the shooting angle of unmanned plane with the deviation angle and luffing angle of horizontal plane
Measure, as one of parameter of established function below；
A4：After unmanned plane reaches section point, the real-time swing angle of head, unmanned plane that step A3 is recorded are sat in real time
Mark and unmanned plane balance detection real time data are sent to control terminal together with clapped one piece of content；
A5：After control terminal receives data, head swing angle, the unmanned plane elements of a fix and equilibristat are detected into data
Corresponding photographing information generating function relation, then by photographing information and the function of generation and prior default photographing information and preset
Function contrast, generate feedback function, draw feedback opinion；
A6：If feedback opinion is beyond scope is received, i.e. unmanned plane is unavailable in key position photographing information, then to nobody
Machine sends signal, orders it to re-shoot；
A7：Unmanned plane makes a return voyage to coordinate points when shooting unintelligible, according to feedback function data, adjusts the angle of rotation of head
Degree and equilibristat predetermined angular, start to shoot；
A8：Unmanned plane is shot in feedback opinion after coordinate location one by one, and fly to section point, and feedback photographed data is sent
Give control terminal；
Above-mentioned steps A5-A8, the space coordinates of unmanned plane is set to x, y, z, the level angle and the angle of pitch of head
Degree is set to θ 1, θ 2, and the level angle of unmanned plane and luffing angle are respectively θ 3, θ 4 obtained by balance detection, in perfect condition
Under, for unmanned plane in each coordinate points x, y, z, corresponding θ 1, θ 2, θ 3, θ 4 be present reaches the shooting effect of video camera
It is best.
Because unmanned plane is by effect of natural conditions, such as wind etc is talked about, unmanned plane is gone off course, cause nobody
The change of machine coordinate position, as long as but position coordinates falls into default domain D, i.e. x, y, z ∈ D, and the energy of θ 1, θ 2, θ 3, θ 4
Satisfaction and the one-to-one relation of x, y, z, then can still obtain the best shooting effect of effect.
Function model is simplified to by described above, obtains following two one-one functions：
G=f1 (x, y, z)；
H=f2 (θ 1, θ 2, θ 3, θ 4)；
From above-mentioned corresponding relation：
G=KH, K are coefficient；
So obtain：
F1 (x, y, z)=Kf2 (θ 1, θ 2, θ 3, θ 4)；
So as long as x, y, z, θ 1, θ 2, θ 3, θ 4 meet above-mentioned relation formula, then best shooting effect is can obtain.
In real process, because equipment performance, wind-force, rain and dew, unmanned plane during flying speed etc. influence, cloud platform rotation is caused
Angle, balance detection angle are not reaching to preset value, i.e. x, y, z, θ 1, θ 2, θ 3, θ 4 can not meet above-mentioned relation formula, so as to get
Shooting effect do not reach expection.
But we can be by angle, θ 1 ' actually measured when shooting, θ 2 ', θ 3 ', θ 4 ' and the angle, θ 1, θ 2, θ of prediction
3rd, θ 4 establishes function, obtains following formula：
+ △ the α 1 of θ 1=f ' (θ 1 ')=θ 1 '；
+ △ the α 2 of θ 2=f ' (θ 2 ')=θ 2 '；
+ △ the α 3 of θ 3=f ' (θ 3 ')=θ 3 '；
+ △ the α 4 of θ 4=f ' (θ 4 ')=θ 4 '；
Then can by above-mentioned △ α 1, △ α 2, △ α 3, △ α 4, extract, codomain E is given, if △ α 1, △ α 2, △
α 3, the ∈ E of △ α 4, then can determine whether captured effect can in range of receiving, if △ α 1, △ α 2, △ α 3, △ α 4 exceed codomain E,
Then it is believed that shooting effect exceeds range of receiving.
It should be noted that △ α are the variable quantities of angle, the variable quantity of angle can be formed with angular velocity omega and time t
Functional expression, because the angular velocity omega of head is generally definite value, so can also judge to shoot with time t variable quantity
Whether effect is subjected to.
Next proceed to perform next step.
A9：Control terminal continues executing with step A5-A8, until feedback opinion entirely falls in and receives scope, then into following
Step：
A10：Unmanned plane flies to the 3rd node from section point, and repeat the above steps A3-A9；
A11：According to above-mentioned steps A3-A10, so on up to final node, unmanned plane stops the shutdown of node to the end
Level ground, inspection terminate.
The effect principle of unmanned plane feedback shooting is similar with said process, repeats no more here.
Because traditional GPS location precision does not include height, and influenceed by environment and position very big, and power network line is frequent
Some remote places are arranged on, easily causing unmanned plane direction using GPS location loses and accident occurs, and also is difficult to
Ensure the shooting effect of unmanned plane.Due to present invention employs the method for inspecting of partial node, base station, Ke Yiyong are set at node
Short-range positioning method positions to realize, such as says bluetooth.Short-range positioning method, positioning is more accurate, and environment
Disturbing factor is relatively small.
Preferably, the positioning step includes：
B1：Beacon base stations are arranged in each tower bar, base station ceaselessly sends the broadcasting packet of certain power；
B2：Unmanned plane receives the broadcasting packet sent beacon base stations with the Bluetooth terminal equipment carried；
B3：Unmanned plane measured message power, and be taken in the function of power attenuation and distance relation, calculate nobody
Machine and the distance of beacon base stations, recycle the pressure-altitude sensor carried to measure height, finally give the elements of a fix；
Preferably, the unmanned plane only receive former and later two nodes of present position set by the message sent of beacon base stations.
Because the transmission of bluetooth is received apart from limited, unmanned plane can not also receive signal farther out, so when unmanned plane passes through certain node
When, the beacon base stations before the node are closed automatically.Because tower bar has certain altitude, if it is necessary, can be same
The place of one tower bar different height sets multiple beacon base stations, makes bluetooth positioning more accurate.
Preferably, the bluetooth is bluetooth 4.0 or bluetooth 5.0.The transmission maximum magnitude of bluetooth 4.0 can reach 100 meters
Left and right, and bluetooth 5.0 transmits maximum magnitude up to 300 meters or so, so during from bluetooth model, need to according to actual tower bar away from
From or set nodal distance determine.
It should be noted that short distance positioning should not be limited to other short distances such as bluetooth, ultrasonic wave positioning, WIFI positioning
It should be also included by the present invention from positioning method.
Preferably, the airplane parking area is provided with protective cover；The protective cover is provided with automatically-controlled door, and unmanned plane is being stopped or set sail
During close to automatically-controlled door, automatically-controlled door folding can control；Automatic charge device is additionally provided with the airplane parking area, is filled automatically for unmanned plane
Electricity.
Protective cover be for unmanned plane inspection after provide placement institute, protect unmanned plane from wind and rain blow and beat, protect simultaneously
Cover can also protect the safety of the charging device in airplane parking area well, also allow unmanned plane not bothered in charging by external environment.
Unmanned plane can send signal to automatically-controlled door by RFID radio-frequency units, control its folding when stopping or setting sail.
Preferably, unmanned plane automatic charging step is as follows：
C1：Unmanned plane does real-time monitoring during inspection to self-contained battery electricity；
C2：When unmanned plane self-contained battery electricity is less than setting lowest threshold, after unmanned plane inspection to next tower bar, stop
Voluntarily charged to the tower bar airplane parking area.
C3：After automatic charge device detects the charging instruction that unmanned plane is sent, its charging is given；
C4；When battery electric quantity checking device detects that electricity is full in unmanned plane, automatic charge device powers off, unmanned plane weight
Newly take off, continue inspection.
Automatic charge device as described above also can change cell apparatus to substitute, when unmanned plane not enough power supply with automatic
When, fly on the automatic replacing cell apparatus and change battery, battery altering finishes continued takeoff inspection, and battery is changed using automatic
Device can more effectively improve the efficiency of unmanned plane inspection.
It should be noted that battery electric quantity lowest threshold set by unmanned plane as described above, it should it is complete unmanned plane must not to be less than
Into one section of node inspection institute subfam. Spiraeoideae, it so just can guarantee that unmanned plane will not the air crash because of not enough power supply during inspection.Separately
Outer control terminal is when most starting to formulate inspection route, it should is used as starting point using the initial point of unmanned plane as far as possible, it is proposed that make
Inspection circuit is formulated with the method back and forth flown back and forth.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (6)
1. the power network inspection automatic mode based on unmanned plane, it is characterised in that comprise the following steps：
A1：Terminal is controlled to make inspection circuit, and be sent to unmanned plane using tower bar as node；
A2：Unmanned plane on tower bar airplane parking area, RFID firing frequencies card reader and RFID electronics marks set by node are set by interior
Label matching, if matching unmanned plane is placed exactly in first node, unmanned plane opens camera inspection, if matching nobody
Not in first node, then unmanned plane flies to first node machine, is then turned on camera and starts inspection；
A3：Unmanned plane flies to section point from first node along grid line, and shoots video on the way, and simultaneously records photographing when cloud
The real-time swing angle of platform, the real-time coordinates of unmanned plane and unmanned plane balance detection instrument survey real time data；
A4：After unmanned plane reaches section point, the real-time swing angle of head that step A3 is recorded, unmanned plane real-time coordinates and
Unmanned plane balance detection real time data is sent to control terminal together with clapped one piece of content；
A5：It is after control terminal receives data, head swing angle, the unmanned plane elements of a fix and equilibristat detection data are corresponding
Photographing information generating function relation, then by photographing information and the function of generation and prior default photographing information and default letter
Number contrasts, and generates feedback function, draws feedback opinion；
A6：If for feedback opinion beyond scope is received, i.e. unmanned plane is unavailable in key position photographing information, then sent out to unmanned plane
The number of delivering letters, it is ordered to re-shoot；
A7：Unmanned plane makes a return voyage to coordinate points when shooting unintelligible, according to feedback function data, adjust head rotational angle and
Equilibristat predetermined angular, start to shoot；
A8：Unmanned plane is shot in feedback opinion after coordinate location one by one, and fly to section point, and feedback photographed data is sent into control
Terminal processed；
A9：Control terminal continues executing with step A5-A8, until feedback opinion entirely falls in and receives scope, then into following step
Suddenly：
A10：Unmanned plane flies to the 3rd node from section point, and repeat the above steps A3-A9；
A11：According to above-mentioned steps A3-A10, so on up to final node, unmanned plane stops the airplane parking area of node to the end,
Inspection terminates.
2. the power network inspection automatic mode based on unmanned plane according to claim 1, it is characterised in that the unmanned plane obtains
The step of obtaining the elements of a fix includes：
B1：Beacon base stations are arranged in each tower bar, base station ceaselessly sends the broadcasting packet of certain power；
B2：Unmanned plane receives the broadcasting packet sent beacon base stations with the Bluetooth terminal equipment carried；
B3：Unmanned plane measured message power, and being taken in the function of power attenuation and distance relation, calculate unmanned plane with
The distance of beacon base stations, recycle the pressure-altitude sensor carried to measure height, finally give the elements of a fix.
3. the power network inspection automatic mode based on unmanned plane according to claim 2, it is characterised in that the unmanned plane is only
The message that beacon base stations set by receiving former and later two nodes of present position are sent.
4. the power network inspection automatic mode based on unmanned plane according to one of claim 1-3, it is characterised in that the indigo plant
Tooth is bluetooth 4.0 or bluetooth 5.0.
5. the power network inspection automatic mode based on unmanned plane according to claim 1, it is characterised in that the airplane parking area is set
There is protective cover；The protective cover is provided with automatically-controlled door, and unmanned plane can control automatically-controlled door folding when stopping or setting sail；It is described to stop
Machine is additionally provided with automatic charge device in level ground, for unmanned plane automatic charging.
6. the power network inspection automatic mode based on unmanned plane according to claim 1 or 5, it is characterised in that also including nothing
Man-machine automatic recharging method, step are as follows：
C1：Unmanned plane does real-time monitoring during inspection to self-contained battery electricity；
C2：When unmanned plane self-contained battery electricity is less than setting lowest threshold, after unmanned plane inspection to next tower bar, stop to this
Voluntarily charge tower bar airplane parking area.
C3：After automatic charge device detects the charging instruction that unmanned plane is sent, its charging is given；
C4；When battery electric quantity checking device detects that electricity is full in unmanned plane, automatic charge device power-off, unmanned plane rises again
Fly, continue inspection.
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| CN108053635A (en) * | 2017-12-15 | 2018-05-18 | 杭州莱宸科技有限公司 | A kind of unmanned plane is automatically positioned kilowatt meter reading-out system |
| CN108123543A (en) * | 2018-04-19 | 2018-06-05 | 南方电网科学研究院有限责任公司 | Power grid real-time monitoring system |
| CN108303995A (en) * | 2018-03-02 | 2018-07-20 | 三峡大学 | A kind of substation inspection unmanned plane during flying security system |
| CN108765620A (en) * | 2018-05-23 | 2018-11-06 | 安徽国电京润电力科技有限公司 | A kind of networking electric power network circuit automatic detecting method |
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| CN112180955A (en) * | 2020-08-26 | 2021-01-05 | 国网安徽省电力有限公司淮南供电公司 | Visual feedback-based secondary rechecking method and system for automatically polling unmanned aerial vehicle |
| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
| CN113759957A (en) * | 2021-06-19 | 2021-12-07 | 国网浙江省电力有限公司浦江县供电公司 | Unmanned aerial vehicle power line inspection method |
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