CN114675662A - Unmanned aerial vehicle intelligent inspection system for wind power plant line - Google Patents
Unmanned aerial vehicle intelligent inspection system for wind power plant line Download PDFInfo
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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
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Abstract
The invention relates to the field of inspection of lines of a wind power plant, and discloses an unmanned aerial vehicle intelligent inspection system for the lines of the wind power plant, which consists of an inspection equipment layer, a communication layer and a ground station; the inspection equipment layer is terminal equipment for realizing inspection of the line of the wind power plant and comprises an unmanned aerial vehicle and an unmanned aerial vehicle nest, the unmanned aerial vehicle realizes detection of the line of the wind power plant by carrying a sensor, and the unmanned aerial vehicle nest is mainly used for charging, communication and positioning of the unmanned aerial vehicle; the communication layer realizes data transmission between the inspection equipment layer and the ground station, and is in wireless connection with the inspection equipment layer and the ground station respectively; the ground station is entire system's control center, not only can realize the state monitoring to patrolling and examining equipment layer unmanned aerial vehicle and unmanned aerial vehicle nest, controls the unmanned aerial vehicle flight, can also realize data analysis, processing and the show of patrolling and examining equipment layer collection. The unmanned aerial vehicle inspection system helps inspection personnel to realize intelligent, efficient and low-cost unmanned aerial vehicle inspection of the wind power plant line, and ensures safe and stable operation of the wind power plant.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of wind power plant lines, in particular to an unmanned aerial vehicle intelligent inspection system for wind power plant lines.
Background
The wind power plant is generally far away, the transmission line is long, equipment defects or channel safety hidden dangers are very easy to occur due to the fact that lines and towers are exposed outdoors for a long time, and serious accidents such as line short circuit and the like can be caused if the lines and the towers are not processed in time. Therefore, in order to ensure safe and stable operation of the wind farm, inspection of the wind farm lines becomes particularly important.
With the vigorous development of wind power plants, the defects of low efficiency, low safety and high cost of the traditional manual inspection are increasingly exposed, and the unmanned aerial vehicle inspection gradually becomes a hotspot in the field of power inspection with the advantages of simple equipment, safety and high efficiency. Unmanned aerial vehicle realizes detecting the defect of wind-powered electricity generation field line equipment through carrying on sensor equipment such as visible light camera, infrared imager, ultraviolet imager, and simultaneously, the accessible planning algorithm patrols and examines the route to unmanned aerial vehicle in advance and plans, realizes unmanned aerial vehicle independently to patrol and examine, improves and patrols and examines efficiency.
In the field of unmanned aerial vehicle inspection, an unmanned aerial vehicle inspection system with the patent number of CN202110576966.X, an unmanned aerial vehicle inspection system with the patent number of CN202110416884.9 and an unmanned aerial vehicle inspection system and method with the patent number of CN202110036943.X are provided, but the problems of limited unmanned aerial vehicle inspection distance and low inspection efficiency caused by limited unmanned aerial vehicle battery endurance mileage and inconvenient battery charging/replacing are not considered.
Therefore, in order to solve the problem of unmanned aerial vehicle endurance, the unmanned aerial vehicle inspection system composed of the unmanned aerial vehicle, the unmanned aerial vehicle nest and the ground station is adopted, the unmanned aerial vehicle nest is installed at a position near a wind power station line according to needs, or a pickup truck is adopted to place the unmanned aerial vehicle nest, so that long-term inspection of the unmanned aerial vehicle can be ensured, and the inspection efficiency is improved.
Disclosure of Invention
The invention aims to solve the problems and provides an unmanned aerial vehicle intelligent inspection system for a wind power plant line, which comprises:
the system comprises a patrol inspection equipment layer and a monitoring system, wherein the patrol inspection equipment layer consists of an unmanned aerial vehicle and an unmanned aerial vehicle nest, the unmanned aerial vehicle realizes detection on a wind power plant line by carrying a sensor, and the unmanned aerial vehicle nest is mainly used for charging, communication and positioning of the unmanned aerial vehicle;
the communication layer is used for realizing data transmission between the inspection equipment layer and the ground station and is respectively in wireless connection with the inspection equipment layer and the ground station;
the ground station is the control center of the whole system, can not only realize the state monitoring of the unmanned aerial vehicle of the inspection equipment layer and the unmanned aerial vehicle nest, control the flight of the unmanned aerial vehicle, but also can realize the data analysis, processing and display of the acquisition of the inspection equipment layer.
Furthermore, the unmanned aerial vehicle consists of a sensor module, a control module, a communication module, a driving module and a power module; the unmanned aerial vehicle comprises a sensor module, a control module, a communication module, a power module and a driving module, wherein the sensor module is connected with the control module, the control module is connected with the sensor module, the communication module and the driving module, the communication module is wirelessly connected with an unmanned aerial vehicle nest and a ground station, and the power module is used for supplying power to the sensor module, the control module, the communication module and the driving module.
Further, the sensor module comprises a visible light camera, an infrared imager, an ultraviolet imager, a laser radar and an attitude sensor; the control module comprises a holder control unit and a motion control unit, the holder control unit is used for adjusting the shooting angles of a visible light camera, an infrared imager and an ultraviolet imager which acquire images, and the motion control unit is used for controlling the driving module; the communication module realizes data transmission with the ground station; the driving module comprises an electronic speed regulator, a motor and a propeller, wherein the electronic speed regulator is connected with the motor and used for controlling the rotating speed of the motor, and the motor is connected with the propeller and used for driving the propeller to rotate; power module includes battery and charging device, provides the electric energy for unmanned aerial vehicle normal work.
Furthermore, the visible light camera realizes fine routing inspection of the wind power plant line by shooting high-definition images of line equipment; the infrared imager photographs a heating part of the line equipment and identifies abnormal heating of the equipment; the ultraviolet imager is used for detecting line corona, flashover and arc defects; the laser radar acquires accurate three-dimensional space information of line equipment and a line corridor by acquiring high-precision laser point cloud, so that obstacle avoidance of the unmanned aerial vehicle is realized; attitude sensor includes triaxial gyroscope, triaxial accelerometer, triaxial geomagnetic sensor and barometer, realizes the measurement to unmanned aerial vehicle pitch angle, roll angle and yaw. The line equipment comprises a wire, a wire clamp, a drainage wire, an insulator, a tower, a strain pipe and a shockproof hammer.
Further, the unmanned aerial vehicle nest comprises automatic hatch door system, automatic charging system, supplementary accurate descending system, remote communication system, uninterrupted power system, environment perception system and intelligent computing system, automatic hatch door system links to each other with supplementary accurate descending system, intelligent computing system, automatic charging system, uninterrupted power system link to each other with other each system, realize the power supply to each system, supplementary accurate descending system links to each other with intelligent computing system, remote communication system links to each other with other each system, realizes the teletransmission to unmanned aerial vehicle nest data, environment perception system links to each other with intelligent computing system. The automatic cabin door system realizes the automatic flying, recovery and storage of the unmanned aerial vehicle; the automatic charging system realizes electric shock charging and wireless charging of the unmanned aerial vehicle; the auxiliary accurate landing system realizes the full-autonomous stable taking off and landing of the unmanned aerial vehicle; the remote communication system comprises an optical fiber communication interface and a wireless communication module, and realizes real-time communication, monitoring and scheduling with the unmanned aerial vehicle and the ground station; the uninterruptible power supply system comprises an uninterruptible power supply and a surge protector, and power supply to the unmanned aerial vehicle is realized under the conditions of power supply interruption, surge, undervoltage and overvoltage; the environment sensing system comprises a monitoring camera, an alarm device, a vibration sensor and a miniature high-integration meteorological station, wherein the alarm device is connected with the monitoring camera, the vibration sensor and the miniature high-integration meteorological station to realize alarm of abnormal data, the monitoring camera realizes real-time monitoring of the inside and the outside of the unmanned aerial vehicle nest, the alarm device realizes alarm under abnormal conditions, the vibration sensor realizes detection when the unmanned aerial vehicle nest is maliciously damaged, and the miniature high-integration meteorological station realizes measurement of wind speed, wind direction, rainfall, temperature, humidity and air pressure; the intelligent computing system is the core of the unmanned aerial vehicle nest and realizes control of the unmanned aerial vehicle and the unmanned aerial vehicle nest.
Furthermore, the ground station comprises a display system, a control system and a data transmission system, wherein the control system is connected with the data transmission system to realize the transmission of control instructions, and the data transmission system is connected with the display system to realize the real-time display of data; the display system displays the geographical position and flight data of the unmanned aerial vehicle, the acquired image data and the state data of the unmanned aerial vehicle nest through a display screen; the control system carries out flight control on the unmanned aerial vehicle according to the flight data, the flight environment data and the task execution condition data of the unmanned aerial vehicle; the data transmission system is used for receiving various flight data of the unmanned aerial vehicle, acquired image data and real-time parameters of an unmanned aerial vehicle nest and transmitting control information to the unmanned aerial vehicle and the unmanned aerial vehicle nest.
Has the advantages that: in order to solve the problem of unmanned aerial vehicle endurance, the unmanned aerial vehicle inspection system comprises the unmanned aerial vehicle, the unmanned aerial vehicle nest and the ground station, the unmanned aerial vehicle nest is installed near the wind power plant line according to needs, or a pickup truck is used for placing the unmanned aerial vehicle nest, so that long-term inspection of the unmanned aerial vehicle can be ensured, and the inspection efficiency is improved.
Drawings
Fig. 1 is a general architecture diagram of a drone intelligent inspection system for wind farm lines.
Fig. 2 is a block diagram of the structure of the drone of the present invention.
Fig. 3 is a block diagram of the structure of the drone nest of the present invention.
Fig. 4 is a block diagram of the control module of the present invention.
Fig. 5 is a block diagram of the driving module of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-5, the present invention provides a unmanned aerial vehicle intelligent inspection system for wind farm lines,
the inspection equipment layer 1 is composed of an unmanned aerial vehicle 4 and an unmanned aerial vehicle nest 5, the unmanned aerial vehicle 4 detects a line of a wind power plant by carrying a sensor, and the unmanned aerial vehicle nest 5 is mainly used for charging, communication and positioning of the unmanned aerial vehicle 4;
the communication layer 2 is used for realizing data transmission between the inspection equipment layer 1 and the ground station 3, and the communication layer 2 is respectively in wireless connection with the inspection equipment layer 1 and the ground station 3;
ground satellite station 3 is entire system's control center, not only can realize the state monitoring to patrolling and examining equipment layer unmanned aerial vehicle 4 and unmanned aerial vehicle nest 5, controls unmanned aerial vehicle 4 flight, can also realize data analysis, processing and the show of patrolling and examining equipment layer 1 collection.
The patrol inspection equipment layer 1, the communication layer 2 and the ground station 3 are hardware facilities or equipment.
The work flow of the intelligent inspection system of the unmanned aerial vehicle is as follows: firstly, the ground station 3 sets a flight route of the unmanned aerial vehicle 4 according to the inspection task, and transmits the flight route to the unmanned aerial vehicle 4 and the unmanned aerial vehicle nest 5 in the inspection equipment layer 1 through the communication layer 2; then, the unmanned aerial vehicle 4 takes off from the unmanned aerial vehicle nest 5 for inspection according to the inspection task, takes a task picture and a real-time video through the unmanned aerial vehicle sensor module 9, and transmits data back to the ground station 3 through the communication module 11; finally, the unmanned aerial vehicle 4 completes the flight mission and returns to the unmanned aerial vehicle nest 5.
Further, the unmanned aerial vehicle is composed of a sensor module 9, a control module 10, a communication module 11, a driving module 12 and a power module 13; sensor module 9 is connected with control module 10, control module 10 is connected with sensor module 9, communication module 11 and drive module 12, communication module 11 and unmanned aerial vehicle nest 5, 3 wireless connection in ground station, power module 13 is sensor module 9, control module 10, communication module 11 and the power supply of drive module 12 respectively.
Further, the sensor module 9 includes a visible light camera 14, an infrared imager 15, an ultraviolet imager 16, a laser radar 17, and a posture sensor 18; the control module 10 includes a pan-tilt control unit 19 and a motion control unit 20, the pan-tilt control unit 19 is used to adjust the shooting angles of the visible light camera 14, the infrared imager 15 and the ultraviolet imager 16 for collecting images, and the motion control unit 20 realizes control of the driving module 12; the communication module 11 realizes data transmission with the ground station 3; the driving module 12 comprises an electronic speed regulator 21, a motor 22 and a propeller 23, wherein the electronic speed regulator 21 is connected with the motor 22 to control the rotating speed of the motor 22, and the motor 22 is connected with the propeller 23 to drive the propeller to rotate; power module 13 includes battery 24 and charging device 25, and charging device realizes providing the electric energy for unmanned aerial vehicle 4 normal work to the charging of battery.
Further, the visible light camera 14 captures a high-definition image of the line device to realize fine routing inspection of the wind power plant line; the infrared imaging instrument 15 photographs a heating part of the line equipment to identify abnormal heating of the equipment; the ultraviolet imager is used for detecting line corona, flashover and arc defects; the laser radar acquires accurate three-dimensional space information of line equipment and a line corridor by acquiring high-precision laser point cloud, so that obstacle avoidance of the unmanned aerial vehicle is realized; attitude sensor includes triaxial gyroscope, triaxial accelerometer, triaxial geomagnetic sensor and barometer, realizes the measurement to unmanned aerial vehicle pitch angle, roll angle and yaw. The line equipment comprises a wire, a wire clamp, a drainage wire, an insulator, a tower, a strain pipe and a shockproof hammer.
Further, unmanned aerial vehicle nest 5 comprises automatic hatch door system 26, automatic charging system 27, supplementary accurate landing system 28, remote communication system 29, uninterrupted power system 30, environment perception system 31 and intelligent computing system 32, automatic hatch door system 26 links to each other with supplementary accurate landing system 28, intelligent computing system 32, automatic charging system 27, uninterrupted power system 30 link to each other with other each system, realize the power supply to each system, supplementary accurate landing system 28 links to each other with intelligent computing system 32, remote communication system 29 links to each other with other each system, realizes the teletransmission to unmanned aerial vehicle nest data, environment perception system 31 links to each other with intelligent computing system 32. The automatic cabin door system 26 realizes automatic flying, recovery and storage of the unmanned aerial vehicle; the automatic charging system 27 realizes electric shock charging and wireless charging of the unmanned aerial vehicle; the auxiliary accurate landing system 28 realizes the full-autonomous stable take-off and landing of the unmanned aerial vehicle; the remote communication system 29 comprises an optical fiber communication interface and a wireless communication module, and realizes real-time communication, monitoring and scheduling with the unmanned aerial vehicle and the ground station; the uninterruptible power supply system 30 comprises an uninterruptible power supply and a surge protector, and realizes power supply to the unmanned aerial vehicle under the conditions of power supply interruption, surge, undervoltage and overvoltage; the environment sensing system 31 comprises a monitoring camera, an alarm device, a vibration sensor and a miniature high-integration meteorological station, wherein the alarm device is connected with the monitoring camera, the vibration sensor and the miniature high-integration meteorological station to realize alarm of abnormal data, the monitoring camera realizes real-time monitoring of the inside and the outside of the unmanned aerial vehicle nest, the alarm device realizes alarm under abnormal conditions, the vibration sensor realizes detection when the unmanned aerial vehicle nest is maliciously damaged, and the miniature high-integration meteorological station realizes measurement of wind speed, wind direction, rainfall, temperature, humidity and air pressure; the smart computing system 32 is the core of the drone nest, enabling control of the drone and the drone nest.
Further, the ground station comprises a display system 6, a control system 7 and a data transmission system 8, wherein the control system 7 is connected with the data transmission system 8 to realize the transmission of control instructions; and the data transmission system 8 is connected with the display system to realize real-time display of data. The display system 6 displays the geographical position and flight data of the unmanned aerial vehicle 4, the acquired image data and the state data of the unmanned aerial vehicle nest through a display screen; the control system 7 performs flight control on the unmanned aerial vehicle according to the flight data, the flight environment data and the task execution condition data of the unmanned aerial vehicle 4; the data transmission system 8 is used for receiving various flight data of the unmanned aerial vehicle 4, acquired image data and real-time parameters of the unmanned aerial vehicle nest 5 and transmitting control information to the unmanned aerial vehicle 4 and the unmanned aerial vehicle nest 5.
The invention provides an unmanned aerial vehicle intelligent inspection system for a wind power plant line, which realizes the refined inspection of the wind power plant line through the autonomous flight of an unmanned aerial vehicle, ensures the long-endurance inspection of the unmanned aerial vehicle through deploying a fixed unmanned aerial vehicle nest or a vehicle-mounted mobile unmanned aerial vehicle nest in the wind power plant line area, helps an inspector to realize the intelligent, efficient and low-cost unmanned aerial vehicle inspection of the wind power plant line, and ensures the safe and stable operation of the wind power plant.
The above layers, modules, and units of the present invention all belong to hardware modules.
Although the specific embodiments of the present invention have been described with reference to the accompanying drawings, the scope of the present invention is not limited thereto. It should be noted that, for a person skilled in the art, several modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (7)
1. The utility model provides an unmanned aerial vehicle intelligence system of patrolling and examining for wind-powered electricity generation field circuit which characterized in that includes:
the inspection equipment layer consists of an unmanned aerial vehicle and an unmanned aerial vehicle nest, the unmanned aerial vehicle realizes the detection of the line of the wind power plant by carrying a sensor, and the unmanned aerial vehicle nest is used for charging, communicating and positioning the unmanned aerial vehicle;
the communication layer is used for realizing data transmission between the inspection equipment layer and the ground station, and is respectively in wireless connection with the inspection equipment layer and the ground station;
the ground station is a control center of the whole system and is used for monitoring states of the unmanned aerial vehicle and the unmanned aerial vehicle nest in the inspection equipment layer, controlling the unmanned aerial vehicle to fly and analyzing, processing and displaying data acquired by the inspection equipment layer.
2. The unmanned aerial vehicle intelligent inspection system for wind farm lines of claim 1, wherein: the unmanned aerial vehicle consists of a sensor module, a control module, a communication module, a driving module and a power module; the unmanned aerial vehicle comprises a sensor module, a control module, a communication module, a power module and a driving module, wherein the sensor module is connected with the control module, the control module is respectively connected with the sensor module, the communication module and the driving module, the communication module is respectively in wireless connection with an unmanned aerial vehicle nest and a ground station, and the power module is respectively used for supplying power to the sensor module, the control module, the communication module and the driving module.
3. The unmanned aerial vehicle intelligent inspection system for wind farm lines of claim 2, wherein: the sensor module comprises a visible light camera, an infrared imager, an ultraviolet imager, a laser radar and an attitude sensor; the control module comprises a holder control unit and a motion control unit, the holder control unit is used for adjusting the shooting angles of a visible light camera, an infrared imager and an ultraviolet imager for collecting images, and the motion control unit is used for controlling the driving module; the driving module comprises an electronic speed regulator, a motor and a propeller, wherein the electronic speed regulator is connected with the motor and used for controlling the rotating speed of the motor, and the motor is connected with the propeller and used for driving the propeller to rotate; the power module comprises a battery and a charging device, the battery is connected with the charging device, and electric energy is provided for normal work of the unmanned aerial vehicle.
4. The unmanned aerial vehicle intelligent inspection system for wind farm lines of claim 3, wherein: the visible light camera is used for realizing fine routing inspection of the wind power plant line by shooting high-definition images of line equipment; the infrared imager photographs a heating part of the line equipment and is used for identifying abnormal heating of the equipment; the ultraviolet imager is used for detecting line corona, flashover and arc defects; the laser radar acquires accurate three-dimensional space information of line equipment and line corridors by acquiring high-precision laser point cloud, so that the unmanned aerial vehicle can avoid obstacles; attitude sensor includes triaxial gyroscope, triaxial accelerometer, triaxial geomagnetic sensor and barometer, realizes the measurement to unmanned aerial vehicle pitch angle, roll angle and yaw angle.
5. The unmanned aerial vehicle intelligent inspection system for wind farm lines of claim 3, wherein: the line equipment comprises a wire, a wire clamp, a drainage wire, an insulator, a tower, a strain tube and a vibration damper.
6. The unmanned aerial vehicle intelligent inspection system for wind farm lines of claim 1, wherein: the unmanned aerial vehicle nest is composed of an automatic cabin door system, an automatic charging system, an auxiliary accurate landing system, a remote communication system, an uninterruptible power supply system, an environment sensing system and an intelligent computing system, wherein the automatic cabin door system is connected with the auxiliary accurate landing system and the intelligent computing system, the automatic charging system and the uninterruptible power supply system are connected with other systems to supply power to the systems, the auxiliary accurate landing system is connected with the intelligent computing system, the remote communication system is connected with other systems to realize remote transmission of unmanned aerial vehicle nest data, and the environment sensing system is connected with the intelligent computing system; the automatic cabin door system is used for realizing automatic flying, recovery and storage of the unmanned aerial vehicle; the automatic charging system is used for realizing electric shock charging and wireless charging of the unmanned aerial vehicle; the auxiliary accurate landing system is used for realizing the full-autonomous stable take-off and landing of the unmanned aerial vehicle; the remote communication system comprises an optical fiber communication interface and a wireless communication module and is used for realizing real-time communication, monitoring and scheduling with the unmanned aerial vehicle and the ground station; the uninterruptible power supply system comprises an uninterruptible power supply and a surge protector; the environment sensing system comprises a monitoring camera, an alarm device, a vibration sensor and a miniature high-integration meteorological station, wherein the alarm device is connected with the monitoring camera, the vibration sensor and the miniature high-integration meteorological station to realize the alarm of abnormal data, the monitoring camera is used for realizing the real-time monitoring of the inside and the outside of the unmanned aerial vehicle nest, the alarm device is used for realizing the alarm under abnormal conditions, the vibration sensor is used for realizing the detection when the unmanned aerial vehicle nest is maliciously damaged, and the miniature high-integration meteorological station is used for realizing the measurement of wind speed, wind direction, rainfall, temperature, humidity and air pressure; the intelligent computing system is the core of the unmanned aerial vehicle nest and is used for controlling the unmanned aerial vehicle and the unmanned aerial vehicle nest.
7. The unmanned aerial vehicle intelligent inspection system for wind farm lines of claim 1, wherein: the ground station comprises a display system, a control system and a data transmission system, wherein the control system is connected with the data transmission system; the data transmission system is connected with the display system; the display system displays the geographical position and flight data of the unmanned aerial vehicle, the acquired image data and the state data of the unmanned aerial vehicle nest through a display screen; the control system carries out flight control on the unmanned aerial vehicle according to the flight data, the flight environment data and the task execution condition data of the unmanned aerial vehicle; the data transmission system is used for receiving various flight data of the unmanned aerial vehicle, acquired image data and real-time parameters of an unmanned aerial vehicle nest and transmitting control information to the unmanned aerial vehicle and the unmanned aerial vehicle nest.
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| CN115617080A (en) * | 2022-12-17 | 2023-01-17 | 北京中飞艾维航空科技有限公司 | Unmanned aerial vehicle inspection system and method for transformer substation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115617080A (en) * | 2022-12-17 | 2023-01-17 | 北京中飞艾维航空科技有限公司 | Unmanned aerial vehicle inspection system and method for transformer substation |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liang Xinzheng Inventor after: Tan Zhonglei Inventor after: Cai Bin Inventor after: Liang Maoqi Inventor after: Li Leisheng Inventor after: Li Jiahuang Inventor before: Liang Xinzheng Inventor before: Tan Zhonglei Inventor before: Cai Bin Inventor before: Liang Maoqi Inventor before: Li Leisheng Inventor before: Li Jiahuang |