CN113552893A - Air route design method for unmanned aerial vehicle power autonomous inspection, flight method and unmanned aerial vehicle - Google Patents
Air route design method for unmanned aerial vehicle power autonomous inspection, flight method and unmanned aerial vehicle Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention provides a route design method for unmanned aerial vehicle power autonomous inspection, which comprises the following steps: s11: setting a plurality of waypoints according to the type of the route and the data of the electric power tower; s12: setting waypoint parameters of the plurality of waypoints; and S13: numbering the plurality of waypoints. According to the unmanned aerial vehicle automatic charging system, the unmanned aerial vehicle automatic charging platform is arranged and the routing inspection route is designed, so that the unmanned aerial vehicle can automatically return to the charging platform for charging when the electric quantity is low in the unmanned aerial vehicle routing inspection process, and automatically return to the task interruption point to continue to complete the task after the charging is completed, and the unmanned aerial vehicle can be guaranteed to complete the task safely and efficiently.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle control technology field especially relates to a route design method that unmanned aerial vehicle electric power was independently patrolled and examined, a flight method that unmanned aerial vehicle electric power was independently patrolled and examined and an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is more and more widely applied to power inspection, the traditional unmanned aerial vehicle inspection is that the unmanned aerial vehicle is operated by people to shoot the corresponding position of the power tower, the method has higher technical requirements on operators, the labor cost is high, and certain hidden danger is brought to the personal safety of the operators of the unmanned aerial vehicle especially in severe environments such as mountainous areas and the like; in addition, because the load of the unmanned aerial vehicle is limited, the inspection time of the traditional unmanned aerial vehicle is very limited, and the battery needs to be replaced when the unmanned aerial vehicle flies for a short time, so that the working efficiency is seriously influenced.
The statements in this background section merely represent techniques known to the public and are not, of course, representative of the prior art.
Disclosure of Invention
In view of at least one defect of the prior art, the invention provides a route design method for unmanned aerial vehicle power autonomous inspection, which comprises the following steps:
s11: setting a plurality of waypoints according to the type of the route and the data of the electric power tower;
s12: setting waypoint parameters of the plurality of waypoints; and
s13: numbering the plurality of waypoints.
According to one aspect of the invention, the route types include:
the power tower is surrounded by the tower-surrounding route and does not intersect with the power tower; and
the inter-tower routes are positioned at the safe height of the electric power tower and are arranged between the adjacent tower-surrounding routes;
the plurality of waypoints are distributed on the tower-surrounding route and the inter-tower route.
According to one aspect of the invention, the waypoint parameters comprise: one or more of a waypoint type, camera pan-tilt heading angle, camera pan-tilt angle, unmanned aerial vehicle heading angle, waypoint longitude, waypoint latitude, and waypoint altitude.
According to one aspect of the invention, the waypoint types include:
the photographing waypoint is positioned on the tower-winding route and is configured to trigger the unmanned aerial vehicle to execute photographing action;
a tower-winding waypoint, a common waypoint located on the tower-winding route;
the intersection point of the tower-winding route and the inter-tower route is a navigation point at a safe height right above the electric power tower;
the inter-tower waypoints are common waypoints on the inter-tower route; and
and the take-off and landing point is a navigation point at the safe distance of the charger garage.
According to an aspect of the present invention, wherein the step S13 further includes:
s13-1: numbering from the outer point of the tower;
s13-2: numbering from the outer point of the tower to the first side of the power tower along a tower-winding route;
s13-3: numbering the second sides of the electric power towers along the tower-winding route;
s13-4: returning to the outer point of the tower, and continuously numbering the navigation points in sequence along the route between towers;
s13-5: the next extra-tower point is encountered and the steps S13-2 through S13-4 are repeated until the numbering of all waypoints is completed.
The invention also designs a flying method for the unmanned aerial vehicle power autonomous inspection, which comprises the following steps:
s21: downloading the airline file and the charger hangar position information designed by the airline design method;
s22: reaching the nearest takeoff point;
s23: when the current electric quantity is greater than the return electric quantity, executing a normal inspection mode, detecting the current electric quantity, recording an interruption task waypoint and executing a return charging mode when the current electric quantity is less than or equal to the return electric quantity;
s24: after returning to the charger base for charging, detecting the current electric quantity, and sending a takeoff request to the central control system when the current electric quantity is greater than the takeoff electric quantity; when the current electric quantity is less than or equal to the takeoff electric quantity, continuing to charge; and
s25: and returning to the task interruption waypoint after takeoff, switching to a normal inspection mode, and repeating S23 and S24 until all photographing waypoints are traversed.
According to an aspect of the present invention, the takeoff point is an outer tower point or a takeoff and landing point, and the step S22 further includes searching for the outer tower point or the takeoff and landing point closest to the current position, where the drone takes off from the current position, first rises vertically to the height of the closest outer tower point or the takeoff and landing point, and then flies horizontally until reaching the closest outer tower point or the takeoff and landing point.
According to an aspect of the present invention, the normal inspection mode includes a forward inspection mode, a reverse inspection mode, a forward leakage compensation mode and a reverse leakage compensation mode, and the step S23 further includes calculating the number of photo waypoints before and after the departure point, and executing the corresponding normal inspection mode.
According to an aspect of the present invention, the method of performing the normal patrol mode includes: calculating the number of shot waypoints before and after the flying point according to the waypoint number, and executing forward inspection if no shot waypoint exists before the flying point; if the shooting waypoint is not available after the flying point, executing reverse-order inspection; if the shooting waypoints are arranged before and after the flying starting point and the quantity of the shooting waypoints before the flying starting point is less, performing reverse-order leakage repairing; if the shooting waypoints are arranged before and after the flying point and the number of the shooting waypoints after the flying point is less, executing the positive sequence leakage repairing; and after the reverse sequence leak repairing and the positive sequence leak repairing are finished, switching to the positive sequence inspection and the reverse sequence inspection respectively.
According to one aspect of the invention, in the normal inspection mode, when the photographing waypoint is reached, photographing is carried out according to the waypoint parameters of the photographing waypoint, the number of the photographing waypoints which are finished is accumulated, and the task completion percentage is obtained by dividing the number of the total photographing waypoints and is sent to the central control system; and in the charging mode, the photographing is not carried out when the photographing waypoint is reached.
According to one aspect of the invention, the method of performing the return to charge mode comprises:
s23-1: returning to the nearest take-off and landing point;
s23-2: landing to a charger garage;
s23-3: and starting charging when the locking of the floor is detected.
According to an aspect of the present invention, the step S23-1 further includes searching for a first extra-tower point nearest to the current location, a first descent point nearest to the current location, and a second extra-tower point nearest to the first descent point,
when the current position is positioned on a tower-winding route, the mobile terminal flies to the first tower outer point along the tower-winding route, then flies to the second tower outer point along the inter-tower route, and then flies to the first landing point along the tower-winding route,
when the current position is located on the inter-tower route, the second tower outer point flies along the inter-tower route, and then the first landing point flies around the tower route.
According to an aspect of the present invention, the step S23-2 further includes the steps of descending vertically from the first descending point to a first preset height above the charger hangar, flying horizontally to a position right above the charger hangar, descending vertically to a second preset height above the charger hangar, triggering the radar of the charger hangar to open the door of the charger hangar, and then hovering for a preset time and then descending to the charger hangar.
According to an aspect of the present invention, the step S25 further includes, after the central control system opens the charging hangar hatch door to unlock the drone, first searching for a take-off and landing point closest to the current position as a take-off point, determining a size relationship between the current waypoint number and the interrupted mission waypoint number after reaching the take-off point, selecting a flight direction, and switching to the normal inspection mode when determining that the reached waypoint number is equal to the interrupted mission waypoint number.
The invention also relates to a drone comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, operate a flying method as described above.
According to the technical scheme, by setting the automatic charging platform of the unmanned aerial vehicle and designing the routing inspection route, when the electric quantity is low in the routing inspection process of the unmanned aerial vehicle, the unmanned aerial vehicle can automatically return to the charging platform for charging, and automatically returns to the task interruption point after charging is completed to continue to complete the task, so that the unmanned aerial vehicle can be ensured to safely and efficiently complete the task.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure. In the drawings:
FIG. 1 illustrates a flowchart of a route design method of one embodiment of the present invention;
FIG. 2 shows a schematic of a route of one embodiment of the present invention;
FIG. 3 illustrates a waypoint numbering flow diagram for one embodiment of the invention;
FIG. 4a illustrates a waypoint numbering diagram for one embodiment of the invention;
FIG. 4b shows a schematic view of a flight method of one embodiment of the invention;
FIG. 4c shows a schematic view of a flight method of one embodiment of the invention;
FIG. 5 illustrates a flow chart of a method of flight according to an embodiment of the present invention;
FIG. 6 illustrates a flowchart of a method of returning to a charging mode, in accordance with one embodiment of the present invention;
FIG. 7 illustrates a method diagram for returning to a charging mode, in accordance with one embodiment of the present invention;
fig. 8 shows a flow diagram for unmanned aerial vehicle inspection according to an embodiment of the invention;
figure 9 shows a block diagram of a drone according to one embodiment of the invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention designs a route design method for unmanned aerial vehicle power autonomous inspection, as shown in fig. 1, the route design method 10 comprises the following steps:
a plurality of waypoints are set according to the route type and the power tower data at step S11. According to a preferred embodiment of the present invention, the power tower data comprises parameters such as the position, height, width, number of power towers. The route types include a tower-around route 101 and an inter-tower route 102. Referring to fig. 2, a route 101 around the tower is disposed around the power tower (as indicated by the blue line in fig. 2) and does not intersect the power tower. As shown in fig. 2, the route around the tower is located on the left and right sides of and above the power tower. The inter-tower route 102 is located at a safe height above the electric power tower (as shown by the red line in fig. 2), and is arranged between adjacent around-tower routes 101. The tower-winding route 101 and the inter-tower route 102 are set according to the number, position and height of the electric power towers, and generally, one tower-winding route 101 is set for one electric power tower, and one inter-tower route 102 is set between two electric power towers. A plurality of photographing points and non-photographing points are arranged on the tower-surrounding route 101, and a plurality of route points are arranged on the inter-tower route 102, at the intersection point of the tower-surrounding route 101 and the inter-tower route 102 and near the charging hangar as identification route points for executing flight missions.
Specifically, the waypoint types include a photographing waypoint H10, a around-tower waypoint H11, an outside-tower waypoint H12, an inter-tower waypoint H13, and a take-off and landing point H14. Wherein, the photographing waypoint H10 is located on the route 101 around the tower and is configured to trigger the unmanned aerial vehicle to perform a photographing action. For example, when the unmanned aerial vehicle reaches a certain waypoint and it is determined that a photographing action needs to be performed according to the type of the waypoint, the unmanned aerial vehicle is controlled to adjust the course angle, the camera pan-tilt course angle and the camera pan-tilt angle, and then the photographing action is performed. The tower-surrounding waypoint H11 is a general waypoint, i.e., a non-photographed waypoint, located on the tower-surrounding route 101. The outer tower point H12 is located at a waypoint at a safe height directly above the power tower at the intersection of the round tower path 101 and the inter-tower path 102. The inter-tower waypoint H13 is a general waypoint located on the inter-tower route 102. The take-off and landing point H14 is located at a waypoint at a safe distance from the charger cage.
Waypoint parameters for a plurality of waypoints are set at step S12. According to a preferred embodiment of the invention, the waypoint parameters comprise one or more of a waypoint type, a camera pan head course angle, a camera pan head pitch angle, an unmanned aerial vehicle course angle, a waypoint longitude, a waypoint latitude and a waypoint altitude. As shown in the following table:
| parameter name | Meaning of parameters |
| Param1 | Type of waypoint |
| Param2 | Course angle of camera holder |
| Param3 | Camera pan-tilt angle |
| Param4 | Course angle of unmanned aerial vehicle |
| Param5 | Waypoint longitude |
| Param6 | Waypoint latitude |
| Param7 | Waypoint height |
Therein, the parameter Param1 may indicate a specific waypoint type, which may be represented by a number or letter, for example. For example, parameter Param1 for shot point H10 is 10; parameter Param1 around tower waypoint H11 was 11; parameter Param1 at the extracolumn point H12 was 12; parameter Param1 of the inter-tower waypoint H13 was 13; the parameter Param1 of the take-off and landing point H14 was 14. The various waypoints described above are distributed on the township route 101 (photo point H10 and township route point H11), on the inter-tower route 102 (inter-tower route point H13), or near the charger hangar (take-off and landing point H14) according to the type of waypoint, with the extratower point H12 being provided at the intersection of the township route 101 and the inter-tower route 102. Other waypoint parameters are conventional parameter settings. Wherein, at the photographing point H10, parameters related to the camera pan-tilt and the unmanned aerial vehicle, namely Param2-Param4, need to be adjusted to execute the photographing task in the power patrol. When other waypoints do not need to adjust the relevant parameters, they can be represented by the number 0 or null, for example; or set as desired.
In step S13, the waypoints are numbered, for example, sequentially in the order of the size of the arabic numerals, and the waypoints are identified by the waypoint numbers when the drone executes the flight mission. According to a preferred embodiment of the present invention, as shown in fig. 3, step S13 includes:
numbering starts from the tower outer point H12 at step S13-1. For example, the numbers are started from the starting point of the mission route, that is, the tower outer point H12 corresponding to the first power tower, and if the mission route is a circular mission route, the numbers can be started from the tower outer point H12 of any power tower.
The first sides of the power towers are numbered from this tower outer point H12 along the round tower route 101 at step S13-2. For example, one side of the semi-encircling tower route 101 is taken as a first side, and referring to fig. 2, waypoints on the first side are numbered first.
And then numbered along the tower route 101 to the second side of the power tower at step S13-3. For example, the other side of the semi-encircling tower route 101 is numbered.
Returning to the tower exit point H12 at step S13-4, the sequential numbering of the waypoints continues along the inter-tower route 102.
The next off-tower point H12 is encountered at step S13-5 and steps S13-2 through S13-4 are repeated until the numbering of all waypoints is completed. That is, when the next extratower point H12 is encountered, i.e., the next route 101 around the tower, one side of the extratower point is numbered, the other side of the extratower point is numbered, and then the extratower route 102 is returned to continue coding until all the waypoints are traversed.
Fig. 4a shows a schematic view of waypoint numbering according to an embodiment of the present invention, taking four power towers as an example, numbering from an outer tower point H12 on the power tower 1, that is, numbering as 1; then numbering along one side of the tower-surrounding route 101-1, namely numbering 2-4, and numbering towards the other side, namely numbering 5-7; then returning to the waypoint with the number of 1, numbering along the inter-tower route 102-1, namely numbering 8; when the next tower outer point, namely the waypoint above the electric power tower 2, is encountered, the numbering is carried out, namely the numbering is 9. Repeating the above operations, numbering the route 101-2 around the tower, numbering the route 102-2 between the towers, and so on until all waypoints are traversed, namely waypoint numbers from 1 to 31, which are referred to as waypoint P1-waypoint P31 in sequence for convenience of description.
In conclusion, the route design method for unmanned aerial vehicle power autonomous inspection is introduced through steps S11-S13. The order of execution of the steps can be changed during design, for example, a flight path can be set firstly, then waypoints are placed, and waypoint parameters and numbers are set; or firstly placing waypoints, setting waypoint parameters and numbering, and then dividing to obtain routes, which are all within the protection scope of the invention. The sequence of waypoint numbers can affect the efficiency of the unmanned aerial vehicle in executing tasks, and the following description continues when the flying method of unmanned aerial vehicle electric power autonomous inspection is introduced. In addition, the flight speed of the unmanned aerial vehicle also influences the efficiency of executing tasks, and according to a preferred implementation of the invention, the maximum horizontal flight speed of the unmanned aerial vehicle around the tower route 101 can be set to be 3m/s so as to ensure the accuracy and safety of the photographing position, and the maximum horizontal flight speed of the unmanned aerial vehicle around the tower route 102 can be set to be 10m/s so as to ensure the inspection efficiency. The setting of the maximum horizontal flying speed does not constitute a limitation of the present invention. After the flight path design is finished, before the unmanned aerial vehicle takes off, information such as a task flight path and the like is sent to the unmanned aerial vehicle, the task flight path can be all the flight paths obtained according to the steps, and a part of the task flight path can be sent to the unmanned aerial vehicle as the task flight path according to the requirements, namely, the flight path can be edited again.
The invention also designs a flight method for the unmanned aerial vehicle power autonomous inspection, which is used for improving the efficiency when a mission route is executed, and as shown in fig. 5, the flight method 20 comprises the following steps:
the airline file and the charger hangar location information designed by the above-described design method are downloaded at step S21. Preferably, the charger garage location is located near a take-off and landing point H14, as shown in fig. 4a, the waypoint type of waypoint P12 is the take-off and landing point H14, within the safe distance of the charger garage. In order to ensure flight safety, the horizontal distance and the vertical distance between the charger garage and a take-off and landing point are both required to be larger than a safety distance.
The latest takeoff point is reached at step S22. According to a preferred embodiment of the invention, the off-tower point H12 or the take-off and landing point H14 may be set as a take-off point, and only after the drone reaches a preset take-off point, the drone may be considered to have successfully taken off. Step S22 further includes finding the nearest off-tower point H12 or the nearest take-off and landing point H14 from the current position of the drone, and the drone takes off from the current position, first rises vertically to the height of the nearest off-tower point H12 or the nearest take-off and landing point H14, and then flies horizontally until reaching the nearest off-tower point H12 or the nearest take-off and landing point H14. The probability that the unmanned aerial vehicle impacts the electric tower or the charging hangar mounting frame can be reduced in the process. The unmanned aerial vehicle can take off from the ground or take off from a charger hangar, specifically, when a polling task is started, if the current position of the unmanned aerial vehicle is located on the ground, firstly, a nearest tower outer point H12 or a take-off and landing point H14 is searched as a take-off point, the unmanned aerial vehicle takes off from the ground, vertically rises to the height of the take-off point, and then horizontally flies to the take-off point; if the current position of the unmanned aerial vehicle is located in the charger hangar, the nearest take-off and landing point H14 is firstly searched to serve as the take-off and landing point, the unmanned aerial vehicle takes off from the charger hangar, vertically rises to the height of the take-off and landing point, and then horizontally flies to the take-off and landing point, so that the unmanned aerial vehicle can take off from any position. Referring to the embodiment of fig. 4a, the drone takes off from the ground, first determining that the tower outer point H12 closest to the current position of the drone is waypoint P1 and the closest take-off and landing point H14 is waypoint P12, for example, setting the closer waypoint P1 as the take-off point, and the drone takes off from the current position, first rising vertically to the height of waypoint P1 and then flying horizontally to waypoint P1. Preferably, the maximum speed of vertical flight is 3m/s in default, and the maximum speed of horizontal flight is 3m/s in default in the process.
In step S23, when the current electric quantity is greater than the return electric quantity, the normal polling mode is executed, the current electric quantity is detected, and when the current electric quantity is less than or equal to the return electric quantity, the interrupted task waypoint is recorded, and the return charging mode is executed. For example, detecting an electric quantity value at a certain frequency, judging the electric quantity value relative to a preset return electric quantity, or comparing the electric quantity value with the electric quantity required by returning to the nearest charging hangar, when the electric quantity of the unmanned aerial vehicle is insufficient, firstly recording the current waypoint number, and returning to charge; when the unmanned aerial vehicle electric quantity is sufficient, continue to carry out the task. According to a preferred embodiment of the present invention, the normal inspection mode includes forward inspection, reverse inspection, forward leakage compensation and reverse leakage compensation, and the step S23 further includes calculating the number of photo waypoints before and after the departure point, and executing the corresponding normal inspection mode.
According to a preferred embodiment of the present invention, a method of performing a normal patrol mode includes: calculating the number of photographed waypoints H10 before and after the departure point according to the waypoint numbers, and if there is no photographed waypoint H10 before the departure point (i.e., in the direction in which the waypoint number is smaller than the departure point), performing a forward inspection, i.e., flying from the photographed waypoint H10 having a small number toward the photographed waypoint having a large number; if there is no photo waypoint H10 after the departure point, the reverse sequence inspection is performed, i.e., flying from the high-numbered photo waypoint H10 toward the low-numbered photo waypoint H10. If there are photo waypoints H10 before and after the departure point, the number of photo waypoints H10 before the departure point and the number of photo waypoints H10 after the departure point are calculated, respectively. If the total number of the photographing waypoints H10 before the departure point is less than the number of the photographing waypoints H10 after the departure point, performing reverse order leak repairing, namely accessing the photographing waypoint H10 before the departure point; if the total number of the photographing waypoints H10 after the departure point is less than the total number of the photographing waypoints H10 before the departure point, performing positive-order omission-correction, namely accessing the photographing waypoint H10 after the departure point; and after the reverse sequence leak repairing and the positive sequence leak repairing are finished, switching to the positive sequence inspection and the reverse sequence inspection respectively. Namely, the normal inspection mode can automatically calculate the task execution direction, after the unmanned aerial vehicle takes off, the number of the photographing waypoints H10 before and after the starting point is firstly calculated, and if the photographing waypoints H10 do not exist before the starting point, the tasks are sequentially executed; if no photo waypoint H10 follows the departure point, the tasks are executed in reverse order; if there are photo waypoints H10 before and after the departure point, then the direction with the smaller number of photo waypoints H10 is executed first, and then the direction with the larger number of photo waypoints H10 is executed. The normal inspection mode can be subdivided into positive sequence inspection, negative sequence inspection, positive sequence leakage compensation and negative sequence leakage compensation. And when the positive sequence leakage repairing or the negative sequence leakage repairing is finished, the mode is respectively switched to a negative sequence inspection mode or a positive sequence inspection mode. Preferably, when determining which polling mode to execute, the number of the photographing waypoints H10 calculated should be subtracted by the number of the photographing waypoints H10 that have been completed when executing the mission route.
Referring to fig. 4a, if a waypoint P1 (type: tower outer point H12) is taken as a departure point, the unmanned aerial vehicle arrives at the departure point first after taking off, and then the number of photographed waypoints H10 before and after the departure point is judged according to the size of the waypoint number and the waypoint type, and since there is no photographed waypoint H10 before the departure point, a forward patrol mode is performed. If, at step S22, the waypoint 12 (type is take-off and landing point H14) is taken as the departure point, then at step S23 the drone arrives at the departure point first after takeoff, and then, based on the size of the waypoint number and the type of waypoint, the number of photographed waypoints H10 before and after the departure point is determined, for example, there is one photographed waypoint H10 (waypoint P4) numbered 4 among the waypoints numbered less than waypoint P12 and two photographed waypoints H10 among the waypoints numbered more than waypoint P12: and the waypoint P20 with the number of 20 and the waypoint P28 with the number of 28 perform the reverse order of leakage repairing, namely, firstly fly back to the waypoint P4 to take a picture, and then take a picture of the waypoint P20 and the waypoint P28.
According to a preferred embodiment of the invention, in the normal inspection mode, when the unmanned aerial vehicle reaches the photographing waypoint, photographing is carried out according to the waypoint parameters of the photographing waypoint, the number of the completed photographing waypoints is accumulated, and the task completion percentage obtained by dividing the number of the total photographing waypoints is sent to the central control system, so that the central control system can know the completion condition of the unmanned aerial vehicle inspection task. In addition, when unmanned aerial vehicle is in when returning to the mode of charging, not shoot when the waypoint of shooing on the way to avoid the excessive power consumption.
Preferably, in the flight process of the unmanned aerial vehicle, the electric quantity required by the returned nearest charger base is calculated at a certain frequency or period, the electric quantity required by the returned nearest charger base is compared with the current electric quantity, and whether the returned charger base is required to be charged or not is judged according to preset conditions. For example, when the current electric quantity is less than 1.1 times (or 1.05 times) the electric quantity required for returning to the nearest hangar, the unmanned aerial vehicle returns to the charger hangar for charging. The method for calculating the required electric quantity for returning the nearest charger base according to one embodiment of the invention is as follows: assuming that the accumulated horizontal distance of waypoints between the current position and the nearest tower outer point H12 is x1, the accumulated horizontal distance of all waypoints between the tower outer point H12 and the nearest take-off and landing point H14 is x2, the accumulated vertical distance of all waypoints is y1, and 17% landing electric quantity is reserved, the electric quantity r required by returning to the nearest charger base is as follows:
the maximum horizontal flying speed of the tower-surrounding flight path is v1, the default is 3m/s, v2 is the maximum horizontal flying speed of the inter-tower flight path and is 10m/s, v3 is the maximum vertical flying speed and is default to 3m/s, and a is a fitting coefficient of flying time and electric quantity, and the fitting coefficient can be obtained through early-stage test or set according to needs. The above calculation method is performed according to the following return strategy. The drone first rises to the height of the nearest out-of-tower point H12, then flies flat to the out-of-tower point H12, maintains that height and flies above the take-off and landing point, and finally lands. Meanwhile, in order to ensure safe flight, 17% of reserved landing electric quantity is set. The present invention is not limited to this, and the amount of electricity r required to return to the nearest charger base may be calculated according to another return strategy.
At step S24: after returning to the charger base for charging, detecting the current electric quantity, and sending a takeoff request to the central control system when the current electric quantity is greater than the takeoff electric quantity; and when the current electric quantity is less than or equal to the takeoff electric quantity, continuing charging.
At step S25: and returning to the task interruption waypoint after the takeoff, switching to a normal inspection mode, and repeating S23 and S24 until all photographing waypoints H10 are traversed. Preferably, step S25 further includes, after the central control system opens the charging hangar door to unlock the drone, first searching for a take-off and landing point H14 closest to the current position as a take-off point, after reaching the take-off point, selecting a flight direction after determining a size relationship between the current waypoint number and the interrupted task waypoint number, and when determining that the reached waypoint number is equal to the interrupted task waypoint number, switching to the normal inspection mode.
Specifically, in step S24, the unmanned aerial vehicle is in the charging mode, when it is determined that the charging of the unmanned aerial vehicle is completed and the takeoff instruction of the central control system is obtained, in step S25, the central control system opens the cabin door of the charging cabin and unlocks the unmanned aerial vehicle, and the unmanned aerial vehicle takes off, referring to fig. 4a, at this time, the unmanned aerial vehicle searches for the point of departure and landing H14 closest to the current position as a waypoint P12 at the position of the charging cabin, takes the waypoint P12 as a point of departure, determines the relationship between the current waypoint number (e.g., number 12) and the interrupted mission waypoint number after reaching the point of departure, selects the flight direction, when it is determined that the reached waypoint number is equal to the interrupted mission waypoint number (e.g., number 12), then switches from the return charging mode to the normal patrol mode, and finally selects the specific normal patrol mode according to the number of the shooting waypoints H10 before and after the interrupted mission waypoint. When the current waypoint number (such as the number 12) is judged to be smaller than the interrupted task waypoint number (such as the number 16), the current waypoint flies to the number in the positive sequence, and then the normal patrol mode is switched; and vice versa.
According to a preferred embodiment of the present invention, as shown in fig. 6, the method 30 of performing the return to the charging mode at step 23 comprises:
the latest take-off and landing point H14 is returned to step S23-1. Preferably, the step S23-1 further includes: (1) searching a first tower outer point closest to the current position, a first descent starting point closest to the current position and a second tower outer point closest to the first descent starting point; (2) when the current position is located on a tower-winding route, the first tower outer point flies to the first tower outer point along the tower-winding route, then the second tower outer point flies to the second tower outer point along the inter-tower route, and then the first tower outer point flies to the first landing point along the tower-winding route; (3) when the current position is located on the inter-tower route, the second tower outer point flies along the inter-tower route, and then the first landing point flies around the tower route.
Fig. 4b is a schematic view of a flight method according to an embodiment of the present invention, in which when the current position waypoint P3 of the drone is returned to the charging mode, the waypoint is recorded as a mission-interruption waypoint, and then a first off-tower point (for example, waypoint P1) closest to the current position of the drone, a first landing point (for example, waypoint P12) closest to the current position, and a second off-tower point (for example, waypoint P9) closest to the first landing point are determined. Because the current position (waypoint P3) is located on the boustrophedonic route 101-1, the drone first flies along the boustrophedonic route 101-1 to a first extra-tower point (waypoint P1), then along the inter-tower route 102-1 to a second extra-tower point (waypoint P9), and then along the boustrophedonic route 101-2 to a first landing point (waypoint P12). Preferably, when the number of the first tower outer point is equal to that of the second tower outer point, that is, the current position and the first landing point are located on the same tower-winding route, the unmanned aerial vehicle directly flies to the first landing point along the tower-winding route.
Fig. 4c is a schematic view of a flight method according to another embodiment of the present invention, in which the current position of the drone is at a waypoint P8, when the return to the charging mode is executed, the waypoint P8 is first recorded as a mission-interrupting waypoint, and then a first off-tower point (e.g., waypoint P1) closest to the current position of the drone, a first descent point (e.g., waypoint P12) closest to the current position of the drone, and a second off-tower point (e.g., waypoint P9) closest to the first descent point are determined. Because the current position (waypoint P8) is located on the inter-tower route 102-1, the drone first flies along the inter-tower route 102-1 to the second, out-of-tower point (waypoint P9) and then along the around-tower route 101-2 to the first, descent point (waypoint P12).
And landing to the charger garage at step S23-2. Preferably, the method further comprises the steps of firstly vertically descending to a first preset height above the charger hangar from a first descending point, then horizontally flying to a position right above the charger hangar, then vertically descending to a second preset height above the charger hangar, triggering the radar of the charger hangar to enable the charger hangar to open the cabin door, and then hovering for a preset time and then descending to the charger hangar.
Fig. 7 is a schematic diagram illustrating a method of returning to a charging mode according to an embodiment of the present invention, in which the drone arrives at a first landing point, first descends to a first predetermined height (e.g., 3 meters) above the height of the charger hangar, and then translates to a position directly above the charger hangar, so as to ensure that the drone does not collide with a mounting rack above the charger hangar; then the height is lowered to a second preset height (for example, 2 meters) above the hangar, and the process is to trigger the hangar radar to enable the hangar to open the cabin door; then hover for a preset time (e.g., 30 seconds), which is a process to ensure that the hangar door is fully open; and then lowered until landing is detected.
Charging is started after the floor lock is detected at step S23-3. Specifically, after the landing locking is detected, the unmanned aerial vehicle is switched to a charging mode, the charging is carried out in a charger garage, an electric quantity value is detected at a certain frequency, the current electric quantity value is compared with a preset takeoff electric quantity, and a takeoff request is sent to a central control system when the charging is judged to be finished; when the charging is not completed, the charging is continued.
Fig. 8 shows a flow chart of the unmanned aerial vehicle inspection according to an embodiment of the present invention, in which a central control system sends a task route and a charging station position to an unmanned aerial vehicle, and starts a task, the unmanned aerial vehicle first calculates a nearest extratower point H12 or a take-off and landing point H14 as a flying point, then determines an inspection direction (forward or reverse) of the unmanned aerial vehicle according to the number of photographing waypoints H10 before and after the flying point number, and at the same time calculates the total number of photographing waypoints H10 of the task, when the unmanned aerial vehicle reaches the photographing waypoint H10, controls a heading angle of the unmanned aerial vehicle, a heading angle of a camera pan and tilt angle of the camera pan according to parameter information of the photographing waypoint H10 to perform a photographing operation, accumulates the number of completed task points, and sends a task completion percentage to the central control system to display after the task completion percentage is obtained by the total number of the photographing waypoints H10.
Calculating the electric quantity required by the route between the current position and the nearest charger base in the normal inspection process (for example, calculating and comparing the residual electric quantity at the frequency of 0.2 Hz), executing the return flight operation when the current electric quantity is less than or equal to the return flight electric quantity, recording the information of the interrupted task route point, and switching to the flow of returning to the nearest tower external point H12; when the tower outer point H12 is reached, the flow is switched to the flow of returning to the nearest take-off and landing point H14, and the tower outer point H12 is at a certain height above the electric tower, so that the route outside the tower is safer and can fly at a higher speed; when the lifting point H14 is reached, a landing process is executed, and the vehicle lands on a charging platform for charging; when the current electric quantity is judged to be larger than or equal to the takeoff electric quantity (for example, the current electric quantity is larger than or equal to 92%), requesting central control to unlock the flight (for example, sending a request at the frequency of 0.1 Hz); after unlocking, the unmanned aerial vehicle returns to the task interruption waypoint; and after the task interruption waypoint is reached, resetting the state, starting to carry out normal inspection photographing, recalculating the electric quantity required by return flight and comparing.
The present invention also contemplates a drone 40, as shown in fig. 9, comprising a processor 41 and a memory 42, said memory 42 storing computer readable instructions that, when executed by said processor 41, operate the flying method 20 as described above.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A method for designing an air route for unmanned aerial vehicle power autonomous inspection comprises the following steps:
s11: setting a plurality of waypoints according to the type of the route and the data of the electric power tower;
s12: setting waypoint parameters of the plurality of waypoints; and
s13: numbering the plurality of waypoints.
2. The airline design method of claim 1, the airline types comprising:
the power tower is surrounded by the tower-surrounding route and does not intersect with the power tower; and
the inter-tower routes are positioned at the safe height of the electric power tower and are arranged between the adjacent tower-surrounding routes;
the plurality of waypoints are distributed on the tower-surrounding route and the inter-tower route.
3. The route design method of claim 2, said waypoint parameters comprising: one or more of a waypoint type, camera pan-tilt heading angle, camera pan-tilt angle, unmanned aerial vehicle heading angle, waypoint longitude, waypoint latitude, and waypoint altitude.
4. The route design method of claim 3, said waypoint types comprising:
the photographing waypoint is positioned on the tower-winding route and is configured to trigger the unmanned aerial vehicle to execute photographing action;
a tower-winding waypoint, a common waypoint located on the tower-winding route;
the intersection point of the tower-winding route and the inter-tower route is a navigation point at a safe height right above the electric power tower;
the inter-tower waypoints are common waypoints on the inter-tower route; and
and the take-off and landing point is a navigation point at the safe distance of the charger garage.
5. The lane design method of any of claims 1 to 4, wherein step S13 further comprises:
s13-1: numbering from the outer point of the tower;
s13-2: numbering from the outer point of the tower to the first side of the power tower along a tower-winding route;
s13-3: numbering the second sides of the electric power towers along the tower-winding route;
s13-4: returning to the outer point of the tower, and continuously numbering the navigation points in sequence along the route between towers;
s13-5: the next extra-tower point is encountered and the steps S13-2 through S13-4 are repeated until the numbering of all waypoints is completed.
6. A flight method for unmanned aerial vehicle electric power autonomous inspection comprises the following steps:
s21: downloading an airline file and charger hangar location information designed by the airline design method of any one of claims 1-5;
s22: reaching the nearest takeoff point;
s23: when the current electric quantity is greater than the return electric quantity, executing a normal inspection mode, detecting the current electric quantity, recording an interruption task waypoint and executing a return charging mode when the current electric quantity is less than or equal to the return electric quantity;
s24: after returning to the charger base for charging, detecting the current electric quantity, and sending a takeoff request to the central control system when the current electric quantity is greater than the takeoff electric quantity; when the current electric quantity is less than or equal to the takeoff electric quantity, continuing to charge; and
s25: and returning to the task interruption waypoint after takeoff, switching to a normal inspection mode, and repeating S23 and S24 until all photographing waypoints are traversed.
7. The flying method of claim 6, wherein the takeoff and landing point is an off-tower point or a takeoff and landing point, and the step S22 further comprises finding the nearest off-tower point or a takeoff and landing point from the current position, wherein the drone takes off from the current position, first rises vertically to the height of the nearest off-tower point or the takeoff and landing point, and then flies horizontally until reaching the nearest off-tower point or the takeoff and landing point.
8. The flying method according to claim 6, wherein the normal inspection mode comprises forward inspection, reverse inspection, forward leakage repair and reverse leakage repair, and the step S23 further comprises calculating the number of photographing waypoints before and after the departure point and executing the corresponding normal inspection mode.
9. The flying method of claim 8, the method of performing the normal inspection mode comprising: calculating the number of shot waypoints before and after the flying point according to the waypoint number, and executing forward inspection if no shot waypoint exists before the flying point; if the shooting waypoint is not available after the flying point, executing reverse-order inspection; if the shooting waypoints are arranged before and after the flying starting point and the quantity of the shooting waypoints before the flying starting point is less, performing reverse-order leakage repairing; if the shooting waypoints are arranged before and after the flying point and the number of the shooting waypoints after the flying point is less, executing the positive sequence leakage repairing; and after the reverse sequence leak repairing and the positive sequence leak repairing are finished, switching to the positive sequence inspection and the reverse sequence inspection respectively.
10. The flying method according to claim 9, wherein in the normal inspection mode, when the photographing waypoint is reached, photographing is performed according to the waypoint parameters of the photographing waypoint, the number of the photographing waypoints which are completed is accumulated, and the task completion percentage is obtained by dividing the number of the total photographing waypoints and is sent to a central control system; and in the charging mode, the photographing is not carried out when the photographing waypoint is reached.
11. The flying method of claim 10, the method of performing the return to charge mode comprising:
s23-1: returning to the nearest take-off and landing point;
s23-2: landing to a charger garage;
s23-3: and starting charging when the locking of the floor is detected.
12. The flying method of claim 11, wherein said step S23-1 further comprises finding a first extra-tower point nearest to the current location, a first descent point nearest to the current location, and a second extra-tower point nearest to said first descent point,
when the current position is positioned on a tower-winding route, the mobile terminal flies to the first tower outer point along the tower-winding route, then flies to the second tower outer point along the inter-tower route, and then flies to the first landing point along the tower-winding route,
when the current position is located on the inter-tower route, the second tower outer point flies along the inter-tower route, and then the first landing point flies around the tower route.
13. The flying method according to claim 12, wherein the step S23-2 further comprises the steps of descending vertically from the first descending point to a first preset height above the charger cabin, then flying horizontally to a position right above the charger cabin, then descending vertically to a second preset height above the charger cabin, triggering the radar of the charger cabin to enable the charger cabin to open the cabin door, and then landing to the charger cabin after hovering for a preset time.
14. The flying method according to any one of claims 6 to 13, wherein the step S25 further comprises, after the central control system opens the door of the charger hangar to unlock the drone, first finding a takeoff and landing point closest to the current position as a takeoff point, selecting a flying direction after judging the magnitude relationship between the current waypoint number and the interrupted mission waypoint number after reaching the takeoff point, and switching to the normal patrol mode when judging that the reached waypoint number is equal to the interrupted mission waypoint number.
15. A drone comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform a method of flying as claimed in any one of claims 6-14.
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