WO2023098164A1

WO2023098164A1 - Unmanned aerial vehicle patrol system and method of gridding machine nest

Info

Publication number: WO2023098164A1
Application number: PCT/CN2022/114397
Authority: WO
Inventors: 刘越; 刘俍; 孙晓斌; 李春飞; 张飞; 黄振宁; 刘天立; 李敏; 赵金龙; 张海龙; 高绍楠; 孙磊; 王涛; 周长明
Original assignee: 国网智能科技股份有限公司
Priority date: 2021-12-03
Filing date: 2022-11-02
Publication date: 2023-06-08
Also published as: CN114253300B; CN114253300A

Abstract

An unmanned aerial vehicle (33) patrol system and method of a gridding machine nest (3, 34). The system comprises a plurality of machine nests (3, 34) deployed in a gridding mode, wherein each machine nest (3, 34) is used for accommodating at least one unmanned aerial vehicle (33); the machine nest (3, 34) comprises a machine nest controller that communicates with a control terminal; the machine nest controller communicates with an unmanned aerial vehicle remote controller; the unmanned aerial vehicle remote controller communicates with the unmanned aerial vehicle (33); and the control terminal is used for generating, according to the current endurance mileage of the unmanned aerial vehicle (33) and a distance between a patrol target and each machine nest (3, 34) by using a shortest patrol time as an optimization target, an optimal patrol path of the unmanned aerial vehicle (33) and sending the optimal patrol path to the machine nest controller. The present invention has the beneficial effects of: achieving the efficient collaborative patrol of the unmanned aerial vehicle (33) based on the unmanned aerial vehicle machine nests (3, 34) that are arranged in the gridding mode, reducing the labor cost, and satisfying the normalized or emergent patrol requirements for a plurality of patrol targets across fields.

Description

一种网格化机巢的无人机巡检***及方法An unmanned aerial vehicle inspection system and method for gridded machine nests

技术领域technical field

本发明涉及电力巡检技术领域，特别涉及一种网格化机巢的无人机巡检***及方法。The invention relates to the technical field of electric power inspection, and in particular to a gridded machine nest UAV inspection system and method.

背景技术Background technique

本部分的陈述仅仅是提供了与本发明相关的背景技术，并不必然构成现有技术。The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

无人机机巢作为无人机的保障中转站，其作用不言而喻，无人机机巢部署位置对于无人机来说至关重要，直接关系到无人机的飞行巡检半径以及作业效率和成果。As a UAV support transfer station, the role of UAV nest is self-evident. The deployment position of UAV nest is very important for UAV, which is directly related to the flight inspection radius of UAV and Operational efficiency and results.

发明人发现，现有的电力巡检存在如下问题：The inventors found that the existing power inspection has the following problems:

(1)无人机机巢的位置设置随意，或者只零星的布置几个无人机机巢，往往无法实现待巡检目标的全覆盖；而且，在巡检过程中往往是依次对每个待巡检目标进行单趟飞行巡检，未涉及对周边近距离航点的覆盖，造成巡检出现航程与电量浪费的情况。(1) The position of the drone nest is set randomly, or only a few drone nests are arranged sporadically, which often cannot achieve full coverage of the targets to be inspected; moreover, in the inspection process, each A single flight inspection of the target to be inspected does not involve the coverage of the surrounding short-distance waypoints, resulting in a waste of range and power in the inspection.

(2)现有的无人机巢大量的采用机械臂进行无人机的归中控制和换电控制，导致无人机换电较为繁琐，而且多自由度机械臂或换电机构与无人机的配合也容易导致机械臂或者无人机的故障，从而造成设备损坏，降低整体***的稳定性。(2) Existing UAV nests use a large number of robotic arms for UAV centering control and power exchange control, resulting in cumbersome power exchange for UAVs, and multi-degree-of-freedom robotic arms or power exchange mechanisms are not compatible with unmanned The cooperation of the machine can also easily lead to the failure of the robotic arm or the drone, resulting in equipment damage and reducing the stability of the overall system.

(3)无人机智能机巢能够实现与后台监控中心的互联互通，通过现场监控飞行环境后，大多由后台监控中心的操作人员主观判断现场飞行条件，智能化程度低，主观性强且存在一定的误判可能性；或对飞行条件的判断只做简单拼凑，缺乏多源数据的综合判断，给飞行任务造成一定的安全隐患。(3) The UAV smart machine nest can realize the interconnection with the background monitoring center. After the on-site monitoring of the flight environment, most of the operators in the background monitoring center subjectively judge the on-site flight conditions, which has a low degree of intelligence, strong subjectivity and existence There is a certain possibility of misjudgment; or the judgment of flight conditions is simply patchwork, lacking a comprehensive judgment of multi-source data, causing certain safety hazards to the flight mission.

(4)无人机在对待降落位置的坐标进行识别时，需要高精密的实时定位，不仅定位组件的成本较高，而且还要实时的获取无人机机场的预设点位的坐标数据，降落控制繁琐；现有技术中存在通过识别降落点的特定图像来实现降落的方案，但是大多只进行单一数据源的识别，降落精度无法得到保障。(4) When the UAV recognizes the coordinates of the landing position, it needs high-precision real-time positioning. Not only the cost of positioning components is high, but also the coordinate data of the preset point of the UAV airport must be obtained in real time. The landing control is cumbersome; in the prior art, there are solutions to realize the landing by identifying the specific image of the landing point, but most of them only identify a single data source, and the landing accuracy cannot be guaranteed.

(5)现有技术中公开了利用双目视觉实现悬停定位测距的方案，依然是控制无人机顺序到达巡检目标制动并悬停，进行定点拍照后再加速前往下一个巡检目标，无人机制动、悬停和加速对电池电量消耗很大，无法实现不悬停自主巡检。(5) The existing technology discloses the solution of using binocular vision to realize hover positioning and ranging. It is still to control the UAV to arrive at the inspection target in sequence, brake and hover, and then accelerate to the next inspection after taking a fixed-point photo. The goal is that the braking, hovering and acceleration of the UAV consume a lot of battery power, and it is impossible to realize the non-hovering autonomous inspection.

发明内容Contents of the invention

为了解决现有技术的不足，本发明提供了一种网格化机巢的无人机巡检***及方法，实现了基于网格化布设的无人机机巢的高效无人机协同巡检，降低了人工成本，满足了对跨领域的多个巡检目标的常态化或应急性巡检需求。In order to solve the deficiencies of the prior art, the present invention provides a grid-based UAV inspection system and method for nests, which realizes efficient UAV collaborative inspection based on grid-based UAV nests. , which reduces labor costs and meets the needs of normalized or emergency inspections for multiple inspection targets across fields.

为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:

本发明第一方面提供了一种网格化机巢的无人机巡检***，包括网格化部署的多个机巢，每个机巢用于容纳至少一台无人机；The first aspect of the present invention provides an unmanned aerial vehicle inspection system for a gridded machine nest, including a plurality of machine nests deployed in a grid, and each machine nest is used to accommodate at least one unmanned aerial vehicle;

所述机巢包括与控制终端通信的机巢控制器，机巢控制器与无人机遥控器通信，无人机遥控器与无人机通信；The machine nest includes a machine nest controller communicating with the control terminal, the machine nest controller communicates with the UAV remote controller, and the UAV remote controller communicates with the UAV;

控制终端用于根据无人机的当前续航里程以及巡检目标距离各个机巢的距离，以巡检时间最短为优化目标，得到各个机巢对应的巡检目标，根据确定的巡检目标生成各个无人机最优巡检路径并发送给机巢控制器。The control terminal is used to obtain the inspection target corresponding to each machine nest based on the current cruising range of the UAV and the distance between the inspection target and each nest, with the shortest inspection time as the optimization goal, and generate each inspection target according to the determined inspection target. The optimal inspection path of the UAV is sent to the nest controller.

进一步的，所述机巢包括：Further, the machine nest includes:

机巢主体，以及设于机巢主体内的承载机构、竖向固定机构和横向固定机构；所述承载机构包括可伸缩的降落平台和第一电机，所述降落平台由第一电机驱动；The main body of the machine nest, and the carrying mechanism, vertical fixing mechanism and horizontal fixing mechanism arranged in the main body of the machine nest; the carrying mechanism includes a retractable landing platform and a first motor, and the landing platform is driven by the first motor;

所述竖向固定机构包括第一回中杆，所述第一回中杆的一端通过转动轴设于机巢主体的侧壁上，第一回中杆上设有齿轮，降落平台上设有与齿轮啮合的齿条，通过齿轮和齿条的啮合驱动第一回中杆绕转动轴转动；The vertical fixing mechanism includes a first centering rod, one end of the first centering rod is arranged on the side wall of the machine nest body through a rotating shaft, gears are provided on the first centering rod, and gears are provided on the landing platform. The rack meshed with the gear drives the first center rod to rotate around the rotation axis through the meshing of the gear and the rack;

所述横向固定机构包括转动杆、第二回中杆和第二电机，所述转动杆的两端设于机巢主体的侧壁上，所述第二回中杆设于转动杆上；转动杆由第二电机驱动，以相对机巢主体，沿降落平台移动方向的反方向转动，从而驱动第二回中杆沿降落平台移动方向的垂直方向移动。The horizontal fixing mechanism includes a rotating rod, a second centering rod and a second motor, the two ends of the rotating rod are arranged on the side wall of the machine nest main body, and the second centering rod is arranged on the rotating rod; The rod is driven by the second motor to rotate in the opposite direction to the moving direction of the landing platform relative to the main body of the machine nest, thereby driving the second centering rod to move in the vertical direction to the moving direction of the landing platform.

进一步的，在齿轮和齿条的啮合下，两侧壁上设有的第一回中杆绕轴转动，以使两个第一回中杆的另一端均向中间位置移动或向两侧方向打开。Further, under the meshing of the gear and the rack, the first centering rods provided on the two side walls rotate around the axis, so that the other ends of the two first centering rods move toward the middle position or move toward both sides. Open.

进一步的，转动杆的两端各设一个第二回中杆，在降落平台被驱动复位时，转动杆正向转动，两端的第二回中杆沿转动杆向中间位置移动，以横向约束固无人机；Further, a second centering rod is provided at both ends of the rotating rod. When the landing platform is driven to reset, the rotating rod rotates in the forward direction, and the second centering rods at both ends move to the middle position along the rotating rod to laterally constrain the UAV;

通过齿条和齿轮的啮合，带动两侧壁的第一回中杆向中间位置移动，以竖向约束无人机。Through the meshing of the rack and the gear, the first center rod on the two side walls is driven to move to the middle position to restrain the drone vertically.

进一步的，转动杆的两端各设一个第二回中杆，在降落平台被推出机巢主体时，转动杆逆向转动，两端的第二回中杆沿转动杆向两侧移动，以解除对无人机的横向约束；Further, a second centering rod is provided at both ends of the rotating rod. When the landing platform is pushed out of the main body of the machine nest, the rotating rod rotates in the opposite direction, and the second centering rods at both ends move along the rotating rod to both sides to release the alignment. lateral restraint of the UAV;

通过齿条和齿轮的啮合，带动两侧壁的第一回中杆向两侧打开，以解除对无人机的竖向约束。Through the meshing of the rack and the gear, the first center rods on the two side walls are driven to open to both sides, so as to release the vertical restraint on the drone.

进一步的，所述机巢，包括：Further, the machine nest includes:

机巢主体，机巢主体内部包括无人机机位、充电模块以及储能模块；The main body of the machine nest, the main body of the machine nest includes the drone seat, charging module and energy storage module;

机巢主体设置有安装模块，安装模块采用丝杠式自动锁紧结构对机巢主体进行固定，无人机机位设置有在水平和竖直方向自主减震的无人机固定装置，机巢控制器分别与充电模块及安装模块通信。The main body of the machine nest is equipped with an installation module, and the installation module adopts a screw-type automatic locking structure to fix the main body of the machine nest. The controller communicates with the charging module and the installation module respectively.

进一步的，所述无人机上载有三轴云台、RTK定位模块和前端AI处理模块；Further, the drone is equipped with a three-axis gimbal, an RTK positioning module and a front-end AI processing module;

三轴云台上安装相机和摄像机；所述相机为单目可变焦相机；所述摄像机用于获取杆塔的视频信息；其中，相机与摄像机集成在一个镜头。A camera and a video camera are installed on the three-axis pan/tilt; the camera is a monocular zoom camera; the video camera is used to obtain video information of the tower; wherein the camera and the video camera are integrated into one lens.

RTK定位模块，用于定位无人机三维坐标信息；The RTK positioning module is used to locate the 3D coordinate information of the UAV;

前端AI处理模块，被配置为：The front-end AI processing module is configured as:

拟合无人机飞控数据、RTK定位模块数据和变焦相机采集图像，下发飞控命令控制无人机飞行，控制云台调整相机角度和变焦，锁定巡检目标并拍照；Fit the UAV flight control data, RTK positioning module data and zoom camera to collect images, issue flight control commands to control the flight of the UAV, control the gimbal to adjust the camera angle and zoom, lock the inspection target and take pictures;

利用视觉变焦广角相机在接近悬停点的飞行过程中拍摄照片，计算拍摄照片的坐标值(GPS值)和云台的姿态，通过相机成像原理识别出照片中的巡检目标；Use the visual zoom wide-angle camera to take photos during the flight approaching the hovering point, calculate the coordinate value (GPS value) of the photo and the attitude of the gimbal, and identify the inspection target in the photo through the camera imaging principle;

依据当前无人机GPS位置和三维速度和云台的姿态的滚转角、俯仰角和偏航角通过卡尔曼滤波算法调整无人机云台的位置，将变焦相机通过变焦锁定到杆塔目标检视点；According to the current GPS position and three-dimensional velocity of the drone and the roll angle, pitch angle and yaw angle of the attitude of the gimbal, the position of the gimbal of the drone is adjusted through the Kalman filter algorithm, and the zoom camera is locked to the target viewing point of the tower by zooming ;

进行拍照以完成对杆塔目标检视点的信息采集，从而提高巡检目标信息采集的准确性和采集图像的质量。Take pictures to complete the information collection of the tower target inspection point, so as to improve the accuracy of the inspection target information collection and the quality of the collected images.

本发明第二方面提供了一种网格化机巢的无人机巡检方法，包括以下过程：The second aspect of the present invention provides a gridded machine nest drone inspection method, including the following process:

获取巡检目标距离各个机巢的距离；Obtain the distance between the inspection target and each machine nest;

选择距离巡检目标最近的机巢为最优机巢；Select the machine nest closest to the inspection target as the optimal machine nest;

依次进行各个巡检目标的判断，得到各个机巢的对应的巡检目标；Carry out the judgment of each inspection target in turn, and obtain the corresponding inspection target of each machine nest;

其中，每一机巢执行巡检任务规划任务，任务包括：Among them, each machine nest performs inspection task planning tasks, and the tasks include:

根据机巢范围内的巡检目标距离机巢的距离进行巡检目标编号，距离越远编号越大；According to the distance between the inspection target within the range of the machine nest and the machine nest, the number of the inspection target is set, and the farther the distance is, the larger the number is;

对于机巢范围内的每一巡检目标，判断无人机总续航时间与巡检目标单独巡检一次的时间的差值是否小于机巢范围内的其他巡检目标单独巡检一次的时间的最小值；若是，则将此巡检目标作为单基塔任务；For each inspection target within the range of the machine nest, it is judged whether the difference between the total endurance time of the UAV and the time for a single inspection of the inspection target is less than the time difference between the time for other inspection targets within the range of the machine nest to be inspected once alone. Minimum value; if yes, take this inspection target as a single base tower task;

若否，则将此巡检目标作为当前巡检目标，判断机巢到当前巡检目标的时间、当前巡检目标的巡检时间、当前巡检目标到编号小于当前巡检目标的最近的次级巡检目标的巡检时间、当前巡检目标到次级巡检目标的时间以及次级巡检目标到机巢的时间的加和是否大于无人机总续航时间；若是，则将当前巡检目标作为单基塔任务；若否，则执行二基杆塔的航线任务，依次进行当前巡检目标和次级巡检目标的巡检。If not, take this inspection target as the current inspection target, and judge the time from the machine nest to the current inspection target, the inspection time of the current inspection target, and the latest time from the current inspection target to the number less than the current inspection target. Whether the sum of the inspection time of the primary inspection target, the time from the current inspection target to the secondary inspection target, and the time from the secondary inspection target to the machine nest is greater than the total endurance time of the drone; The inspection target is taken as the task of the single base tower; if not, the route task of the second base tower is executed, and the inspection of the current inspection target and the secondary inspection target is carried out in turn.

本发明第三方面提供了一种无人机任务执行环境判断方法，利用上述的网格化机巢的无人机巡检***，包括：The third aspect of the present invention provides a method for judging the environment of UAV task execution, using the above-mentioned UAV inspection system with gridded machine nests, including:

获取机巢内环境信息和感知范围内的机巢外环境信息；Obtain the environmental information inside the nest and the environmental information outside the nest within the sensing range;

根据无人机位置选定目标机巢，根据飞行指令确定对应的飞行影响因素，并在选定的目标机巢的外环境信息中调取对应的飞行环境数据；若飞行环境数据不满足飞行条件，则控制无人机返航；Select the target machine nest according to the position of the drone, determine the corresponding flight influencing factors according to the flight instructions, and retrieve the corresponding flight environment data from the external environment information of the selected target machine nest; if the flight environment data does not meet the flight conditions , then control the UAV to return;

根据返航指令确定对应的降落影响因素，根据所述降落影响因素在目标机巢的机巢外环境信息和机巢内环境信息中调取对应的降落环境数据和返仓环境数据；根据降落环境数据控制无人机的降落方式，根据返仓环境数据调整目标机巢内环境，直至无人机返回目标机巢内。Determine the corresponding landing influence factors according to the return order, and retrieve the corresponding landing environment data and return environment data from the machine nest external environment information and machine nest internal environment information of the target machine nest according to the landing influence factors; according to the landing environment data Control the landing method of the drone, and adjust the environment in the target machine nest according to the return environment data until the drone returns to the target machine nest.

根据无人机位置选定目标机巢的选定，具体包括：根据无人机位置，确定无人机所处的机巢感知范围，将落入感知范围的机巢为目标机巢；若两个或以上的机巢均落入感知范围，则确定距离无人机最近的机巢为目标机巢。The selection of the target machine nest according to the position of the UAV includes: according to the position of the UAV, determine the perception range of the machine nest where the UAV is located, and use the machine nest that falls within the sensing range as the target machine nest; If more than one machine nest falls within the sensing range, the machine nest closest to the UAV is determined to be the target machine nest.

本发明第四方面提供了一种无人机精准降落控制方法，利用上述的网格化机巢的无人机巡检***，包括：The fourth aspect of the present invention provides a precise landing control method for UAVs, using the above-mentioned UAV inspection system with gridded nests, including:

获取无人机的定位数据；Obtain the positioning data of the drone;

根据获取的定位数据，判断无人机是否位于预设降落范围内；当无人机没有位于预设降落范围内时，控制无人机移动直至满足位置要求；According to the acquired positioning data, it is judged whether the UAV is within the preset landing range; when the UAV is not within the preset landing range, the UAV is controlled to move until the position requirements are met;

确定无人机位于预设降落范围内后，当无人机位于距离降落点第一预设距离的位置时，获取无人机下方的图像数据或者视频数据；当根据获取的图像数据或者视频数据无法识别到精降范围码时，控制无人机下降至距离降落点第三预设距离的位置，再次进行精降范围码识别，直至识别到精降范围码；After determining that the UAV is within the preset landing range, when the UAV is at the first preset distance from the landing point, acquire the image data or video data below the UAV; When the precise drop range code cannot be recognized, control the UAV to descend to a position at the third preset distance from the landing point, and perform fine drop range code recognition again until the fine drop range code is recognized;

当根据获取的图像数据或者视频数据识别到精降范围码时，控制无人机下降至距离降落点第二预设距离的位置，再次获取无人机下方的图像数据或者视频数据，当根据再次获取的图像数据或者视频数据识别到精降位置码时，控制无人机下降至距离降落点第四预设距离的位置，控制无人机降落。When the precise landing range code is identified according to the acquired image data or video data, the UAV is controlled to descend to a position at a second preset distance from the landing point, and the image data or video data under the UAV is acquired again. When the acquired image data or video data recognizes the precise landing position code, the UAV is controlled to descend to a position at a fourth preset distance from the landing point, and the UAV is controlled to land.

本发明第五方面提供了一种基于视觉移动跟踪的无人机巡检方法，利用上述的网格化机巢的无人机巡检***，包括：The fifth aspect of the present invention provides a UAV inspection method based on visual movement tracking, using the above-mentioned UAV inspection system with gridded machine nests, including:

S1：依据巡检要求，无人机匀速进入检测点前采用云台上的图像采集模块获取巡检目标实时广角图像；S1: According to the inspection requirements, before the UAV enters the inspection point at a constant speed, the image acquisition module on the gimbal is used to obtain a real-time wide-angle image of the inspection target;

S2：判断巡检目标是否位于拍摄获取的实时图像中，若是，则进入步骤S3；否则，控制云台运动，改变姿态，直到搜寻到实时图像中巡检目标；S2: Determine whether the inspection target is located in the real-time image captured by shooting, if so, go to step S3; otherwise, control the motion of the pan-tilt, change the posture, until the inspection target in the real-time image is searched;

S3：处理模块根据实时图像中巡检目标位置，无人机拍摄位置，云台姿态的信息，采用卡尔曼滤波算法拟合出无人机拍摄位置和云台姿态位置，确定图像采集模块的焦距模式；S3: The processing module uses the Kalman filter algorithm to fit the shooting position of the drone and the attitude of the gimbal according to the position of the inspection target in the real-time image, the shooting position of the UAV, and the attitude of the gimbal, and determines the focal length of the image acquisition module model;

S4：控制无人机匀速飞行至拟合得到的拍摄位置，在飞行过程中，处理模块依据无人机匀速飞行三维方向，实时反向调整云台的姿态，以达到图像采集模块实时图像的设定区域锁定巡检目标，并调整图像采集模块的焦距模式；S4: Control the unmanned aerial vehicle to fly at a constant speed to the shooting position obtained by fitting. During the flight, the processing module reversely adjusts the attitude of the gimbal in real time according to the three-dimensional direction of the uniform flying of the unmanned aerial vehicle, so as to achieve the real-time image setting of the image acquisition module. Lock the inspection target in a fixed area, and adjust the focal length mode of the image acquisition module;

S5：无人机到达拍摄位置，确认巡检目标位置在图像采集模块实时图像的设定区域，并锁定检视点进行图像采集；S5: The UAV arrives at the shooting position, confirms that the inspection target position is in the set area of the real-time image of the image acquisition module, and locks the inspection point for image acquisition;

S6：处理模块处理采集的图片，控制无人机执行下一个检测点任务，重新执行S1，直到完成所有检测点图像采集任务。S6: The processing module processes the collected pictures, controls the UAV to perform the next detection point task, and re-executes S1 until all detection point image collection tasks are completed.

与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:

1、本发明创新性的设计了一种网格化机巢的无人机巡检***，提出了一种网格化机巢的无人机巡检方法，根据无人机的当前续航里程以及巡检目标距离各个机巢的距离，以巡检时间最短为优化目标，得到各个机巢对应的多类巡检目标，根据确定的巡检目标生成各个无人机最优巡检路径，解决了单基塔任务和多基塔任务的协同巡检优化问题，实现了以最少巡检时间为目标的巡检路径优化，实现了针对各领域巡检目标的基于网格化的无人机机巢的高效无人机协同巡检，降低了人工成本，满足了对各领域多个巡检目标的常态化或应急性巡检需求。1. The present invention innovatively designs a UAV inspection system for gridded nests, and proposes a UAV inspection method for gridded nests. According to the current cruising range of UAVs and The distance between the inspection target and each machine nest is optimized by taking the shortest inspection time as the optimization goal, and the multi-type inspection targets corresponding to each machine nest are obtained, and the optimal inspection path of each UAV is generated according to the determined inspection target, which solves the problem of The collaborative inspection optimization problem of single-base tower tasks and multi-base tower tasks realizes the optimization of the inspection path with the goal of minimum inspection time, and realizes the grid-based UAV nest for inspection targets in various fields The high-efficiency UAV collaborative inspection reduces labor costs and meets the normalized or emergency inspection requirements for multiple inspection targets in various fields.

2、本发明创新性的提出了一种无人机机巢，设计了对无人机横向约束和纵向约束的双约束技术，提出了回中杆组固定机构与齿轮齿条机构相配合的方法进行无人机回中，解决了无人机机巢单一场景的局限性以及无人机停放稳定性的问题；提高了无人机在不同巡检环境下降落的稳定性，且无人机机巢作为通用型机巢，支持远程遥控作业，显著提升了巡检作业效率，实现了应用场景多样化，实现了无人机在更大范围内的覆盖。2. The invention innovatively proposes a UAV machine nest, designs a double-constraint technology for the UAV’s lateral and longitudinal constraints, and proposes a method for coordinating the centering rod group fixing mechanism with the rack and pinion mechanism The UAV back-to-center solution solves the limitations of the single scene of the UAV nest and the problem of the stability of the UAV parking; improves the stability of the UAV landing in different inspection environments, and the UAV machine As a general-purpose machine nest, the nest supports remote control operations, significantly improves the efficiency of inspection operations, realizes the diversification of application scenarios, and realizes the coverage of drones in a wider range.

3、本发明创新性的提出了一种无人机任务执行环境判断方法，针对不同飞行任务或返航任务结合不同任务环境条件，分别判断是否适宜执行任务，满足机巢飞行条件判断逻辑的需求，在复杂飞行情况，通过机巢自判断的方式实现判断结论冗余，提高了判断准确率，解决了现有飞行环境监控技术的判断条件单一、主观性干扰及智能化程度低的局限性，无需进行人工干预，实现了不同任务下飞行条件的自主预判，显著提高无人机巡检效率和机巢***的安全性。3. The present invention innovatively proposes a method for judging the execution environment of UAV missions. According to different flight missions or return missions combined with different mission environment conditions, it is judged whether it is suitable to perform the mission, and it meets the logic requirements of the nest flight condition judgment. In complex flight situations, the judgment conclusion redundancy is realized through the nest self-judgment method, which improves the judgment accuracy and solves the limitations of single judgment conditions, subjective interference and low intelligence in the existing flight environment monitoring technology. With manual intervention, the autonomous prediction of flight conditions under different tasks is realized, which significantly improves the efficiency of UAV inspection and the safety of the machine nest system.

4、本发明创新性的提出了一种无人机精准降落控制方法，根据无人机的定位数据实现了无人机与待降落位置的初步标定，融合了实时差分定位数据、精降范围码和精降位置码，通过不断的图像识别和距离靠近，解决了无人机精降控制难的问题，实现了无人机降落的精准梯次控制，提高了无人机降落控制的精度。4. The present invention innovatively proposes a precise landing control method for UAVs. According to the positioning data of the UAV, the preliminary calibration of the UAV and the position to be landed is realized, and the real-time differential positioning data and the precise landing range code are integrated. And the precision landing position code, through continuous image recognition and distance approach, solves the problem of difficult drone landing control, realizes precise ladder control of drone landing, and improves the accuracy of drone landing control.

5、本发明创新性的提出了一种基于视觉移动跟踪的无人机巡检方法，在无人机的进入巡检目标和离开巡检目标之间飞行过程中，无人机始终按照设定航迹飞行，通过卡尔曼滤波算法拟合当前位置和速度数据实时调整云台姿态和相机变焦实现相机对巡检目标的移动追踪和锁定拍摄，实现了在无人机不悬停巡检过程中对巡检目标图像的自动采集，大大的降低了巡检人员的劳动强度，而且本发明采用反向移动追踪方法通过动态调整无人机和云台相机姿态实现与巡检目标物的相对静止；大大节省了无人机电量和单次飞行的工作量；本发明的巡检目标物的获取是基于单目相机完成，结构简单，成本较低。5. The present invention innovatively proposes a UAV inspection method based on visual movement tracking. During the flight process between the UAV entering the inspection target and leaving the inspection target, the UAV always follows the set Track flight, through the Kalman filter algorithm to fit the current position and speed data, adjust the gimbal attitude and camera zoom in real time to realize the camera's mobile tracking and locking shooting of the inspection target, and realize the non-hover inspection process of the drone The automatic collection of the inspection target image greatly reduces the labor intensity of the inspection personnel, and the present invention adopts the reverse movement tracking method to realize the relative stillness of the inspection target by dynamically adjusting the posture of the UAV and the pan-tilt camera; It greatly saves the power of the drone and the workload of a single flight; the acquisition of the inspection target in the present invention is completed based on a monocular camera, with a simple structure and low cost.

本发明附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Advantages of additional aspects of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

附图说明Description of drawings

构成本发明的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention.

图1为本发明实施例1提供的网格化机巢的无人机巡检***示意图。Fig. 1 is a schematic diagram of a drone inspection system for gridded machine nests provided by Embodiment 1 of the present invention.

图2为本发明实施例1提供的无人机机巢示意图。Fig. 2 is a schematic diagram of the drone nest provided by Embodiment 1 of the present invention.

图3为本发明实施例1提供的无人机机巢主体示意图。Fig. 3 is a schematic diagram of the main body of the drone nest provided by Embodiment 1 of the present invention.

图4为本发明实施例1提供的第一回中杆底部齿轮驱动示意图。Fig. 4 is a schematic diagram of driving the gear at the bottom of the first centering rod provided in Embodiment 1 of the present invention.

图5为本发明实施例1提供的第一回中杆和第二回中杆的复位示意图。Fig. 5 is a schematic diagram of resetting the first centering rod and the second centering rod provided in Embodiment 1 of the present invention.

图6(a)-6(b)为本发明实施例1提供的无人机回中示意图。Figures 6(a)-6(b) are schematic diagrams of the centering of the drone provided by Embodiment 1 of the present invention.

图7(a)-7(b)为本发明实施例1提供的无人机降落示意图。7(a)-7(b) are schematic diagrams of the landing of the drone provided by Embodiment 1 of the present invention.

图8为本发明实施例1提供的无人机机巢安装示意图。Fig. 8 is a schematic diagram of the installation of the drone nest provided by Embodiment 1 of the present invention.

图9(a)为本发明实施例2提供的移动无人机机巢内部结构示意图。Fig. 9(a) is a schematic diagram of the internal structure of the mobile drone nest provided by Embodiment 2 of the present invention.

图9(b)为本发明实施例2提供的移动无人机机巢舱门结构示意图。Fig. 9(b) is a schematic diagram of the structure of the mobile UAV nest hatch provided by Embodiment 2 of the present invention.

图10为本发明实施例2提供的充电模块结构示意图。FIG. 10 is a schematic structural diagram of a charging module provided by Embodiment 2 of the present invention.

图11为本发明实施例2提供的无人机机位固定装置结构示意图。Fig. 11 is a schematic structural diagram of the drone seat fixing device provided by Embodiment 2 of the present invention.

图12为本发明实施例2提供的无人机机位固定装置的局部结构示意图。FIG. 12 is a schematic diagram of a partial structure of the drone seat fixing device provided by Embodiment 2 of the present invention.

图13(a)为本发明实施例2提供的安装模块结构示意图。Fig. 13(a) is a schematic structural diagram of the installation module provided by Embodiment 2 of the present invention.

[根据细则26改正 30.12.2021]
图13(b)和图13(c)为本发明实施例2提供的安装模块局部结构示意图。[Correction under Rule 26 30.12.2021]
Fig. 13(b) and Fig. 13(c) are schematic diagrams of the partial structure of the installation module provided by Embodiment 2 of the present invention.

图14为本发明实施例2提供的无人机***工作流程图。Fig. 14 is a workflow diagram of the UAV system provided by Embodiment 2 of the present invention.

图15为本发明实施例3提供的航线规划流程示意图。FIG. 15 is a schematic diagram of the route planning process provided by Embodiment 3 of the present invention.

图16为本发明实施例3提供的任务规划示意图一。FIG. 16 is a first schematic diagram of mission planning provided by Embodiment 3 of the present invention.

图17为本发明实施例3提供的任务规划示意图二。FIG. 17 is a second schematic diagram of mission planning provided by Embodiment 3 of the present invention.

图18为本发明实施例4提供的任务指令与对应的环境因素划分示意图。FIG. 18 is a schematic diagram of division of task instructions and corresponding environmental factors provided by Embodiment 4 of the present invention.

图19为本发明实施例4提供的无人机存储任务的执行环境判断示意图。Fig. 19 is a schematic diagram of judging the execution environment of the drone storage task provided by Embodiment 4 of the present invention.

图20为本发明实施例5提供的无人机精准降落控制方法的流程示意图。FIG. 20 is a schematic flowchart of a method for controlling a precise landing of a drone provided in Embodiment 5 of the present invention.

图21为本发明实施例6提供的无人机自主巡检方法流程示意图。FIG. 21 is a schematic flow chart of the autonomous inspection method for drones provided by Embodiment 6 of the present invention.

其中，1、杆塔，2、机巢底撑，3、机巢，4、降落平台，5、顶盖，6、机巢主体，7、转动杆，8、第二电机，9、第一电机，10、第二回中杆，11、充电杆，12、充电端口，13、第一回中杆，14、齿条，15、固定座；16、充电模块；17、无人机机位；18、储能模块；19、显示模块；20、充电口；21、BMS控制板；22、散热扇；23、通信接口；24、充电指示灯；25、第一夹持件；26、弹性件；27、第二夹持件；27-1、握把；27-2、第一套筒；27-3、第一伸缩杆；27-4、固定端；27-5、第一弹簧；28、第二套筒；29、双出轴电机；30、第二伸缩杆；31、弹簧滑块；31-1、第一滑块；31-2、第二弹簧；31-3、第二滑块；32、丝杠；33、无人机；34、机巢。Among them, 1. pole tower, 2. machine nest bottom support, 3. machine nest, 4. landing platform, 5. top cover, 6. machine nest main body, 7. rotating rod, 8. second motor, 9. first motor , 10, the second center pole, 11, the charging pole, 12, the charging port, 13, the first center pole, 14, the rack, 15, the fixing seat; 16, the charging module; 17, the drone seat; 18. Energy storage module; 19. Display module; 20. Charging port; 21. BMS control board; 22. Cooling fan; 23. Communication interface; 24. Charging indicator light; 25. First clamping part; 26. Elastic part ;27, the second clamping piece; 27-1, the handle; 27-2, the first sleeve; 27-3, the first telescopic rod; 27-4, the fixed end; 27-5, the first spring; 28 , the second sleeve; 29, the double shaft motor; 30, the second telescopic rod; 31, the spring slider; 31-1, the first slider; 31-2, the second spring; 31-3, the second slider block; 32, lead screw; 33, unmanned aerial vehicle; 34, machine nest.

具体实施方式Detailed ways

下面结合附图与实施例对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

应该指出，以下详细说明都是示例性的，旨在对本发明提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本发明所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本发明的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。In the case of no conflict, the embodiments and the features in the embodiments of the present invention can be combined with each other.

实施例1：Example 1:

本发明实施例1提供了一种网格化机巢的无人机巡检***，如图1所示，包括网格化部署的多个机巢34，每个机巢用于容纳至少一台无人机33；Embodiment 1 of the present invention provides an unmanned aerial vehicle inspection system for a gridded machine nest, as shown in Figure 1, including a plurality of machine nests 34 deployed in a grid, each machine nest is used to accommodate at least one Drone 33;

本实施例中，选取变电站作为无人机机巢主要部署点，无人机首先可以就近对变电站设备进行巡检；变电站周边是电力线路的主要交汇处，也是需要重点巡视的区域，无人机在变电站周边巡检可以最大限度的巡检电力线路；无人机机巢部署在变电站内，也可以作为变电站检修的一部分，方便运维。In this embodiment, the substation is selected as the main deployment point of the UAV machine nest, and the UAV can first conduct inspections on the nearby substation equipment; the surrounding area of the substation is the main intersection of power lines, and it is also an area that needs to be inspected. The inspection around the substation can inspect the power lines to the greatest extent; the drone nest is deployed in the substation, and can also be used as a part of the maintenance of the substation to facilitate operation and maintenance.

可以理解的，在其他一些实施方式中，无人机机巢也可以适当的部署在5G基站或者山顶光伏等地，也可以以其他领域的目标为巡检目标，如通信领域、消防领域等等，只要有电就可以部署无人机机巢。It is understandable that in some other implementations, the UAV nest can also be properly deployed in places such as 5G base stations or mountaintop photovoltaics, and can also take targets in other fields as inspection targets, such as the communication field, fire protection field, etc. , as long as there is electricity, the drone nest can be deployed.

如图2和图3所示，本实施例所述的无人机机巢为一种小型化无人机机巢，包括：机巢主体，以及设于机巢主体内的承载机构、竖向固定机构和横向固定机构；所述承载机构包括可伸缩的降落平台和第一电机，所述降落平台由第一电机驱动；As shown in Figures 2 and 3, the drone nest described in this embodiment is a miniaturized drone nest, including: a nest main body, a bearing mechanism, a vertical A fixing mechanism and a lateral fixing mechanism; the carrying mechanism includes a retractable landing platform and a first motor, and the landing platform is driven by the first motor;

在本实施例中，所述机巢主体6为矩形框架结构，所述机巢主体6的顶端设有顶盖5，所述顶盖5上设有太阳能光伏板，通过太阳能光伏板吸收光能，并将光能转化为电能储存，以作为机巢的电量支撑。In this embodiment, the machine nest main body 6 is a rectangular frame structure, the top of the machine nest main body 6 is provided with a top cover 5, and the top cover 5 is provided with a solar photovoltaic panel to absorb light energy through the solar photovoltaic panel , and convert light energy into electrical energy storage, as the power support of the machine nest.

优选地，所述顶盖5为斜坡式设计，以防止机巢顶部积水。Preferably, the top cover 5 is sloped to prevent water accumulation on the top of the machine nest.

在本实施例中，所述机巢主体6内设有可伸缩的降落平台4，在无人机降落时，降落平台4在机巢主体6内部被推出以承载无人机，无人机降落后，降落平台4回收至机巢主体6内；在无人机执行巡检任务时，降落平台4在机巢主体6内部被推出，无人机起飞，随后降落平台4被回收至机巢主体6内。In this embodiment, the nest body 6 is provided with a retractable landing platform 4. When the drone lands, the landing platform 4 is pushed out inside the nest body 6 to carry the drone, and the drone lands. Finally, the landing platform 4 is recovered into the machine nest main body 6; when the drone performs inspection tasks, the landing platform 4 is pushed out inside the machine nest main body 6, the drone takes off, and then the landing platform 4 is recovered to the machine nest main body within 6.

在本实施例中，所述机巢主体6三面封闭，前向面与降落平台4形成封闭面，保证机巢整体的防护性能。In this embodiment, the three sides of the machine nest main body 6 are closed, and the forward surface forms a closed surface with the landing platform 4 to ensure the overall protective performance of the machine nest.

在本实施例中，所述第一电机9通过杆与降落平台4连接，以驱动降落平台4推出机巢主体6外，或回收至机巢主体6内。In this embodiment, the first motor 9 is connected to the landing platform 4 through a rod, so as to drive the landing platform 4 to push out of the machine nest main body 6 or to be recovered into the machine nest main body 6 .

优选地，第一电机9设为2个。Preferably, there are two first motors 9 .

在本实施例中，如图3所示，在所述机巢主体6的两端设有滑轨，所述转动杆7两端通过滚动滑轮设于机巢主体6的滑轨上，由第二电机8控制转动杆7转动；所述转动杆7的转动方向与降落平台4的移动方向相反。In this embodiment, as shown in Figure 3, slide rails are provided at both ends of the machine nest main body 6, and the two ends of the rotating rod 7 are arranged on the slide rails of the machine nest main body 6 through rolling pulleys, and the first Two motors 8 control the rotation of the rotating rod 7; the rotating direction of the rotating rod 7 is opposite to the moving direction of the landing platform 4.

所述第二回中杆10的端部设有滑槽，在转动杆7的两端各设一个第二回中杆10，所述第二回中杆10通过滑槽设于转动杆7上，随转动杆7的转动，沿转动杆7方向做单向运动，即沿与转动杆7转动方向的垂直方向做横向运动。The end of the second back center rod 10 is provided with a chute, and a second back center rod 10 is respectively set at the two ends of the rotating rod 7, and the second back center rod 10 is arranged on the rotating rod 7 through the chute. , with the rotation of the rotating rod 7, one-way motion is done along the direction of the rotating rod 7, that is, lateral movement is done along the vertical direction with the rotating rod 7 direction of rotation.

所述转动杆7上设有螺纹，第二回中杆10通过滑槽随转动杆7的转动沿螺纹单向移动。The rotating rod 7 is provided with a screw thread, and the second centering rod 10 moves in one direction along the screw thread with the rotation of the rotating rod 7 through the chute.

优选地，所述转动杆7采用丝杠。Preferably, the rotating rod 7 adopts a lead screw.

所述转动杆7在第二电机8的驱动下在滑轨上转动，根据转动杆7的转动方向控制第二回中杆10的运动方向；The rotating rod 7 rotates on the slide rail under the drive of the second motor 8, and controls the movement direction of the second centering rod 10 according to the rotating direction of the rotating rod 7;

优选地，在转动杆7正向转动时，两侧的第二回中杆10做回中运动，即向中间位置移动；在转动杆7逆向转动时，两侧的第二回中杆10向反方向移动，即往两侧打开；通过转动杆7在滑轨的转动配合第二回中杆10通过滑槽的移动，平衡第二回中杆10随转动杆7进行往复运动的作用力，保证第二回中杆10是单向自由度的位移。Preferably, when the rotating rod 7 rotates forward, the second centering rods 10 on both sides move back to the center, that is, move to the middle position; when the rotating rod 7 rotates reversely, the second centering rods 10 on both sides move toward Move in the opposite direction, that is, open to both sides; through the rotation of the rotating rod 7 on the slide rail and the movement of the second centering rod 10 through the chute, the force of the reciprocating movement of the second centering rod 10 with the rotating rod 7 is balanced. It is ensured that the second back center rod 10 is a displacement of one-way degree of freedom.

优选地，在降落平台4推出时，转动杆7逆向转动时，两侧的第二回中杆10向反方向移动，即往两侧打开；此时，也用于第二回中杆10打开后，降落平台4上的无人机能够飞出；Preferably, when the landing platform 4 is pushed out, when the rotating rod 7 rotates in the opposite direction, the second centering rod 10 on both sides moves in the opposite direction, that is, opens to both sides; at this time, it is also used for the second returning centering rod 10 to open After that, the unmanned aerial vehicle on the landing platform 4 can fly out;

在降落平台回收复位时，转动杆7正向转动时，两侧的第二回中杆10做回中运动，即向中间位置移动；此时，也用于无人机在降落平台上的横向复位，横向约束固定无人机。When the landing platform is recovered and reset, when the rotating rod 7 rotates forward, the second center rod 10 on both sides will move back to the center, that is, move to the middle position; at this time, it is also used for the lateral movement of the drone on the landing platform. Reset, lateral constraints immobilize the drone.

在本实施例中，在机巢主体6相对的两个侧壁上均设有第一回中杆13，在齿轮和齿条的啮合下，两侧的第一回中杆13绕轴转动，以使第一回中杆13的另一端均向中间位置移动或向两侧方向打开。In this embodiment, first centering rods 13 are provided on the two opposite side walls of the main body 6 of the machine nest. Under the engagement of the gear and the rack, the first centering rods 13 on both sides rotate around the axis. So that the other end of the first centering rod 13 moves to the middle position or opens to both sides.

在本实施例中，如图4所示，所述第一回中杆13上设有齿轮，降落平台4上通过螺丝连接齿条14，齿条14与齿轮啮合；在降落平台推出和回退时，齿轮转动，通过齿轮齿条的啮合，带动第一回中杆13绕轴转动；第一回中杆13绕轴转动时，通过齿轮齿条传动将移动动力转换为转动动力力矩。In this embodiment, as shown in Figure 4, the first centering rod 13 is provided with a gear, and the landing platform 4 is connected to the rack 14 by screws, and the rack 14 is engaged with the gear; , the gear rotates, and by the meshing of the rack and pinion, it drives the first return middle rod 13 to rotate around the axis; when the first return middle rod 13 rotates around the axis, the moving power is converted into the rotational power moment by the rack and pinion transmission.

优选地，第一回中杆13用于对无人机的竖向复位，第一回中杆13通过转动轴做绕轴心的圆周转动，经转动另一端绕轴心向中间位置转动，以固定无人机。Preferably, the first return middle rod 13 is used for vertical reset of the drone, the first return middle rod 13 makes a circular rotation around the axis through the rotating shaft, and the other end rotates around the axis to the middle position through the rotation, so as to Fixed drone.

在本实施例中，通过第二回中杆10与第一回中杆13共同推动完成对无人机的复位，如图5所示，无人机复位分为两个部分，一部分通过第二回中杆10的推动横向复位，一部分通过第一回中杆13的转动完成竖向复位。In this embodiment, the reset of the UAV is completed through the joint push of the second back middle rod 10 and the first back middle rod 13. As shown in FIG. The promotion of the centering rod 10 resets horizontally, and a part completes the vertical reset by the rotation of the first centering rod 13 .

优选地，在无人机起飞前，第一电机9推动降落平台4，以将机巢主体6的前侧打开，在打开的过程中，打开第二回中杆10，通过转动杆7的逆向转动，两侧的第二回中杆10向反方向移动，即往两侧打开，解除对无人机的横向固定；同时与降落平台4相连接的齿条与降落平台4同步前推，通过降落平台4中齿条14和第一回中杆13中齿轮的啮合，带动第一回中杆13的转动，两侧的第一回中杆13通过绕轴转动，也向两侧打开，解除对无人机的竖向固定，从而使得无人机根据规划航线自主起飞，进行巡检作业。Preferably, before the UAV takes off, the first motor 9 pushes the landing platform 4 to open the front side of the nest body 6, and during the opening process, the second center lever 10 is opened, and the reverse direction of the rotation lever 7 Rotate, the second back center rod 10 on both sides moves in the opposite direction, that is, open to both sides, and release the lateral fixation to the drone; at the same time, the rack connected to the landing platform 4 is pushed forward synchronously with the landing platform 4, through The meshing of the gear rack 14 in the landing platform 4 and the gear in the first center rod 13 drives the rotation of the first center rod 13, and the first center rod 13 on both sides rotates around the axis, and also opens to both sides, releasing The vertical fixation of the UAV allows the UAV to take off autonomously according to the planned route for inspection operations.

无人机完成巡检任务以后，通过视觉辅助进行精准降落到降落平台4上，然后第一电机9带动降落平台4进行关舱动作，关闭舱门的过程中，通过转动杆7的正向转动，两侧的第二回中杆10做回中运动，即向中间位置移动，以完成对无人机的横向复位；同时通过齿条14和齿轮的啮合，带动第一回中杆13转动，两侧的第一回中杆13通过绕轴转动，向中间移动，以固定无人机，完成无人机的竖向复位。如图6(a)-6(b)和图7(a)-7(b)所示为无人机回中与降落示意图。After the UAV completes the inspection task, it lands on the landing platform 4 accurately through visual assistance, and then the first motor 9 drives the landing platform 4 to perform the closing action. , the second middle rod 10 on both sides makes a return movement, that is, moves to the middle position to complete the lateral reset of the drone; at the same time, through the meshing of the rack 14 and the gear, the first middle rod 13 is driven to rotate, The first return center rods 13 on both sides rotate around the axis and move to the middle to fix the drone and complete the vertical reset of the drone. Figure 6(a)-6(b) and Figure 7(a)-7(b) are schematic diagrams of the UAV returning to the center and landing.

在本实施例中，在机巢主体6的两端还设有充电杆11，所述充电杆上设有若干充电端口12，无人机复位后，无人机底部的充电触板接触充电端口12，通过机巢控制指令进行充电。In this embodiment, charging rods 11 are also provided at both ends of the nest main body 6, and several charging ports 12 are provided on the charging rods. After the UAV is reset, the charging contact plate at the bottom of the UAV contacts the charging ports. 12. Charging is carried out through the machine nest control command.

当无人机执行巡检任务时，首先检测电池剩余电量，当电量不足时，通过充电端口12为无人机动力电池充电；当无人机电量充足时，推出降落平台4，以使无人机起飞。When the unmanned aerial vehicle performs an inspection mission, first detect the remaining power of the battery, and when the power is insufficient, charge the power battery of the unmanned aerial vehicle through the charging port 12; The plane took off.

在更多实施例中，上述无人机机巢作为一种通用型无人机机巢，可应用于杆塔上，其安装过程如图8所示，机巢3通过机巢底撑2安装在杆塔1上，机巢3通过螺丝与机巢底撑连接，机巢底撑2通过螺栓固定安装于杆塔1上。在不同地形下均可依托杆塔设置，能够实现场景多样化。In more embodiments, the above-mentioned unmanned aerial vehicle nest, as a general-purpose unmanned aerial vehicle nest, can be applied to a pole tower. The installation process is shown in Figure 8. The nest 3 is installed on the On the pole tower 1, the machine nest 3 is connected with the machine nest bottom support by screws, and the machine nest bottom support 2 is fixedly installed on the pole tower 1 by bolts. In different terrains, it can rely on pole tower settings, which can realize diversified scenes.

在更多实施例中，上述无人机机巢可搭配车载无人机使用，将无人机机巢通过机巢底撑安装于车顶。In more embodiments, the above-mentioned drone nest can be used with a vehicle-mounted drone, and the drone nest is installed on the roof of the vehicle through the bottom support of the nest.

实施例2：Example 2:

本发明实施例2提供了一种网格化机巢的无人机巡检***，包括网格化部署的多个机巢，每个机巢用于容纳至少一台无人机； Embodiment 2 of the present invention provides a drone inspection system for gridded nests, including multiple nests deployed in a grid, and each nest is used to accommodate at least one drone;

如图9(a)和图9(b)所示，本实施例所述的机巢为移动无人机机巢，包括主控器及机巢主体，所述机巢主体内部包括充电模块16、无人机机位17、储能模块18以及显示模块19；其中，所述机巢主体设置有安装模块，所述安装模块采用丝杠式自动锁紧结构对机巢主体进行固定；所述无人机机位设置有在水平和竖直方向自主减震的无人机固定装置，所述主控器分别与所述充电模块及安装模块连接。As shown in Figure 9(a) and Figure 9(b), the machine nest described in this embodiment is a mobile drone machine nest, including a main controller and a machine nest body, and the inside of the machine nest body includes a charging module 16 , unmanned aerial vehicle machine position 17, energy storage module 18 and display module 19; Wherein, described machine nest main body is provided with installation module, and described installation module adopts lead screw type automatic locking structure to machine nest main body is fixed; Said The UAV stand is provided with a UAV fixing device for autonomous shock absorption in the horizontal and vertical directions, and the main controller is respectively connected with the charging module and the installation module.

具体的：specific:

如图10所示，所述充电模块包括若干充电口20、BMS(BATTERY MANAGEMENT SYSTEM)控制板21、充电散热扇22、通信接口23以及充电指示灯24；As shown in Figure 10, the charging module includes several charging ports 20, BMS (BATTERY MANAGEMENT SYSTEM) control board 21, charging cooling fan 22, communication interface 23 and charging indicator light 24;

所述机巢主体的无人机机位可以放置市面主流RTK(Real-time kinematic)无人机，由于本发明的应用场景对应于移动无人机机巢，其经常面临在不同地形环境下随车移动，故在所述无人机机位处设置有固定装置，用于无人机的固定。其中，如图11所示，所述固定装置包括第一夹持件25和第二夹持件28，所述第一夹持件和第二夹持件通过弹性件27连接，形成夹持结构(类似夹子结构)。The UAV position of the main body of the machine nest can place mainstream RTK (Real-time kinematic) UAVs in the market. Since the application scene of the present invention corresponds to the mobile UAV machine nest, it is often faced with random situations in different terrain environments. The car moves, so a fixing device is provided at the position of the drone for fixing the drone. Wherein, as shown in FIG. 11, the fixing device includes a first clamping part 25 and a second clamping part 28, and the first clamping part and the second clamping part are connected by an elastic part 27 to form a clamping structure (Similar clip structure).

其中，所述第一夹持件25固定于无人机机位表面，如图12所示，所述第二夹持件包括握把27-1，第一套筒27-2、第一弹簧27-5、位于套筒两端的两个伸缩杆27-3以及与固定端，所述第一弹簧位于套筒的中部，所述第一弹簧的两端分别与两个伸缩杆的一端固定连接，通过所述第一弹簧对两个伸缩杆施加向套筒中心方向的拉力，通过所述固定端实现对无人机水平方向的固定，同时，所述固定端基于所述固定装置形成的夹持结构对无人机实现竖直方向的固定。基于固定装置在水平方向的弹簧以及竖直方向上的弹性件，所述固定装置一方面可以做到较好的固定，另一方面，在受到颠簸等情况后所述弹簧和弹性件作为阻尼吸收无人机水平方向和竖直方向的力，实现减振保护，进一步的保证了无人机的安全。Wherein, the first clamping part 25 is fixed on the surface of the drone stand, as shown in Figure 12, the second clamping part includes a handle 27-1, a first sleeve 27-2, a first spring 27-5. The two telescopic rods 27-3 located at both ends of the sleeve and the fixed end, the first spring is located in the middle of the sleeve, and the two ends of the first spring are respectively fixedly connected to one end of the two telescopic rods , through the first spring, the pulling force is applied to the center of the sleeve on the two telescopic rods, and the horizontal direction of the UAV is fixed through the fixed end. At the same time, the fixed end is based on the clip formed by the fixing device. The holding structure realizes the vertical fixation of the UAV. Based on the spring of the fixing device in the horizontal direction and the elastic member in the vertical direction, the fixing device can be better fixed on the one hand, and on the other hand, the spring and the elastic member serve as damping absorption The force in the horizontal and vertical directions of the UAV realizes vibration reduction protection and further ensures the safety of the UAV.

所述机巢主体设置有用于安装所述无人机机巢的安装模块，其中，所述安装模块贯穿所述机巢主体，并于所述机巢主体固定连接，如图13(a)-图13(c)所示，所述安装模块采用丝杠式自动锁紧结构对机巢主体进行固定；所述丝杠式自动锁紧结构包括第二套筒28及固定于套筒中心位置的双出轴电机29，所述双出轴电机转子两端分别与丝杠32的一段固定连接，所述丝杠32的另一端与弹簧滑块31的一端通过螺纹孔连接，所述弹簧滑块31随丝杠旋转水平直线运动，并带动与所述弹簧滑块另一端固定连接的第二伸缩杆30的伸缩。其中，所述弹簧滑块31包括第一滑块31-1和第二滑块31-3，所述第一滑块31-1与第二滑块31-3通过第二弹簧31-2连接。所述弹簧滑块31的第一滑块31-1设置有与所述丝杠32匹配的螺纹孔，所述第二滑块31-3与所述第一滑块31-1相对应的位置设置有圆孔，所述圆孔的孔径大于丝杠的外径，同时，与所述第二滑块固定连接的固定杆一端也开设有预设长度的孔隙，其孔隙的孔径大小也大于丝杠的外径。The nest body is provided with an installation module for installing the drone nest, wherein the installation module runs through the nest body and is fixedly connected to the nest body, as shown in Figure 13(a)- As shown in Figure 13(c), the installation module uses a screw type automatic locking structure to fix the main body of the machine nest; the screw type automatic locking structure includes a second sleeve 28 and a sleeve fixed at the center Double output shaft motor 29, the two ends of the rotor of the double output shaft motor are respectively fixedly connected with a section of the lead screw 32, the other end of the lead screw 32 is connected with an end of the spring slider 31 through a threaded hole, and the spring slider 31 moves horizontally and linearly with the rotation of the lead screw, and drives the expansion and contraction of the second telescopic rod 30 fixedly connected with the other end of the spring slider. Wherein, the spring slider 31 includes a first slider 31-1 and a second slider 31-3, and the first slider 31-1 and the second slider 31-3 are connected by a second spring 31-2 . The first slider 31-1 of the spring slider 31 is provided with a threaded hole matching the lead screw 32, and the second slider 31-3 is at a position corresponding to the first slider 31-1. A circular hole is provided, and the diameter of the circular hole is larger than the outer diameter of the lead screw. At the same time, one end of the fixed rod fixedly connected with the second slider is also provided with a hole of a preset length, and the diameter of the hole is also larger than that of the screw. The outer diameter of the bar.

为了便于所述弹簧滑块31及第二伸缩杆30在所述套筒中可进行水品方向的伸缩。In order to facilitate the expansion and contraction of the spring slider 31 and the second telescopic rod 30 in the horizontal direction in the sleeve.

为了保证安装过程的自动化，在所述第一滑块31-1设置有压力传感器，所述压力传感器与所述主控器连接；同时，所述主控器与所述双出轴电机连接，并基于获取的压力传感器的压力值与预设阈值的比较结果控制双出轴电机的运行。In order to ensure the automation of the installation process, a pressure sensor is provided on the first slider 31-1, and the pressure sensor is connected to the main controller; at the same time, the main controller is connected to the double output shaft motor, And based on the comparison result of the obtained pressure value of the pressure sensor and the preset threshold value, the operation of the double output shaft motor is controlled.

具体的，所述安装模块的工作机理具体如下：Specifically, the working mechanism of the installation module is as follows:

所述双出轴电机作为动力核心带动丝杠转动，丝杠转动会使动力块沿水平方向进行位移，动力块通过弹簧传导推力使固定端逐渐与货箱(本实施例中指皮卡的车厢)接触，动力块上装有压力传感器，当传感器接收到车厢出反作用力达到预定值后形成反馈，双出轴电机停止转动并自动锁紧。当车辆收到颠簸的时候，弹簧作为阻尼器会吸收振动，维持移动机巢的自稳定状态。The double output shaft motor is used as the power core to drive the lead screw to rotate, and the rotation of the lead screw will cause the power block to displace in the horizontal direction, and the power block will transmit the thrust through the spring to make the fixed end gradually contact with the cargo box (the compartment of the pickup truck in this embodiment) , The power block is equipped with a pressure sensor. When the sensor receives the reaction force from the carriage and reaches a predetermined value, it forms a feedback, and the double output shaft motor stops rotating and locks automatically. When the vehicle is bumped, the spring acts as a damper to absorb the vibration and maintain the self-stable state of the mobile nest.

无人机根据巡检任务进行作业，机巢内配备有无人机的自主巡检软件，根据提前做好的航迹规划方案进行精细化巡检作业，作业人员根据机巢屏幕指示状态确定无人机当前状态及具体工作模式，无人机作业完成后由工作人员手动进行无人机电池更换，充分发挥作业人员主观能动性。The UAV performs operations according to the inspection tasks. The autonomous inspection software of the UAV is equipped in the machine nest, and the refined inspection operation is carried out according to the track planning plan prepared in advance. The current state of the man-machine and the specific working mode. After the drone operation is completed, the staff will manually replace the battery of the drone to give full play to the subjective initiative of the operator.

所述主控器还连接有显示模块，用于显示充电模块充电口内电池的状态，以及通过所述显示模块进行命令的下发。其中，所述命令的下发包括安装命令(即将无人机机巢安装于车辆内)以及向无人机下发作业任务。The main controller is also connected with a display module for displaying the status of the battery in the charging port of the charging module, and issuing commands through the display module. Wherein, the issuing of the order includes an installation order (that is, installing the UAV nest in the vehicle) and issuing an operation task to the UAV.

所述储能模块18作为机巢的移动作业供能模块，配备专门充电枪对其进行充电，在所述移动无人机机巢跟随车辆到现场进行巡检作业过程中，储能模块支撑机巢内各种供电，包含充电模块、显示模块及主控模块等。The energy storage module 18 is used as the mobile operation energy supply module of the machine nest, and is equipped with a special charging gun to charge it. When the mobile UAV machine nest follows the vehicle to the site for inspection operations, the energy storage module supports the machine Various power supplies in the nest, including charging modules, display modules, and main control modules.

如图14所示，皮卡内装入本发明所述的移动无人机机巢后，人员通过显示模块操作安装模块，使其自动与皮卡车锁紧；无人机在进行巡检作业时，车辆携带移动机巢到达工作现场附近，打开机巢后，人员开启飞机固定装置，将无人机取出，选取充电模块推荐的电池进行安装，通过机巢内自主飞行软件选取适合的巡检路线，无人机自主完成巡检作业，完成任务后工作人员进行电池更换，将飞机放回机巢内。As shown in Figure 14, after the pickup truck is loaded with the mobile UAV machine nest of the present invention, the personnel operate the installation module through the display module to automatically lock it with the pickup truck; when the UAV is performing inspection operations, the vehicle Bring the mobile nest to the vicinity of the work site. After opening the nest, the personnel open the aircraft fixing device, take out the drone, select the battery recommended by the charging module for installation, and select a suitable inspection route through the autonomous flight software in the nest. The human-machine completes the inspection operation independently. After the task is completed, the staff replaces the battery and puts the aircraft back into the nest.

实施例3：Example 3:

如图15所示，本发明实施例3提供了一种网格化机巢的无人机巡检方法，具体的包括：As shown in Figure 15, Embodiment 3 of the present invention provides a method for inspecting drones in gridded nests, specifically including:

假定无人机飞行速度为V，机巢的位置为三维坐标(0，0，0)，本实施例以杆塔为巡检目标进行举例。Assuming that the flying speed of the UAV is V, and the position of the machine nest is the three-dimensional coordinates (0, 0, 0), this embodiment takes the tower as the inspection target as an example.

若干杆塔位置坐标依次为(X1，Y1，Z1)，(X2，Y2，Z2)，……，(Xn，Yn，Zn)，以机巢位置为球体或者平面中心，向三个方向X，Y，Z轴延展，假定杆塔N的坐标(Xn，Yn，Zn)，两点之间，直线最短，故无人机从机巢飞向杆塔N的直线距离为

The position coordinates of several poles and towers are (X1, Y1, Z1), (X2, Y2, Z2), ..., (Xn, Yn, Zn), taking the position of the machine nest as the center of the sphere or plane, and moving in three directions X, Y , Z-axis extension, assuming the coordinates (Xn, Yn, Zn) of the tower N, the straight line is the shortest between two points, so the straight-line distance of the UAV flying from the machine nest to the tower N is

单个杆塔的巡视复杂度根据塔类型(耐张塔，直线塔，转角塔等)确定，根据杆塔三维点云模型，可以确定其巡检复杂度，这里用时间Tn表示杆塔N的复杂度，其物理意义为无人机巡检该电力杆塔所消耗的时间。The inspection complexity of a single tower is determined according to the tower type (strain tower, straight tower, corner tower, etc.), and the inspection complexity can be determined according to the three-dimensional point cloud model of the tower. Here, the time Tn is used to represent the complexity of the tower N, where The physical meaning is the time it takes for the UAV to inspect the power tower.

举例说明如下：单独一基电力杆塔N，完成一次巡检需要的时间T＝Sn/V+Tn+Sn/V，这里包括三部分：无人机从机巢去杆塔N的耗时Sn/V，巡检杆塔N目标对象的耗时Tn以及巡检完成无人机返回机巢的耗时Sn/V。An example is as follows: for a single power tower N, the time required to complete a patrol inspection T=Sn/V+Tn+Sn/V, here includes three parts: the time-consuming Sn/V for the UAV to go from the machine nest to the tower N , the time-consuming Tn of inspecting the target object of the tower N and the time-consuming Sn/V of returning the UAV to the nest after the inspection is completed.

这里需要考虑的是，如果巡检杆塔N之后，无人机的续航时间还充足，可以考虑单次飞行任务巡检两基甚至多基杆塔，这样做的目的是减少无人机返回机巢次数，也就减少了无人机在机巢覆盖范围内巡检的次数，达到最优路径和最短时间的目标。What needs to be considered here is that if the drone’s battery life is still sufficient after inspecting the tower N, you can consider a single flight mission to inspect two bases or even multiple base towers. The purpose of this is to reduce the number of times the drone returns to the nest , which reduces the number of UAV inspections within the coverage area of the nest, and achieves the goal of the optimal path and the shortest time.

本实施例中，已知杆塔1，2，3，···，n的复杂度T及其三维坐标(Xn，Yn，Zn)，将距离机巢原点由近及远的杆塔编号为1，2，3，···，n，为后续的规划方法提供依据，无人机的巡航能力为T，无人机巡检速度为V，机巢位置的坐标为(0，0，0)。In this embodiment, given the complexity T of the

towers

1, 2, 3,..., n and their three-dimensional coordinates (Xn, Yn, Zn), the number of the towers from near to far from the origin of the machine nest is 1, 2, 3, ..., n, provide the basis for the follow-up planning method, the cruise capability of the UAV is T, the inspection speed of the UAV is V, and the coordinates of the nest position are (0, 0, 0).

航线自主规划的方法及步骤如下：航线规划的基本原则是先规划距离机巢原点较远的杆塔，即

最大的开始，依次减少进行判断。 The method and steps of route autonomous planning are as follows: the basic principle of route planning is to first plan the tower far from the origin of the machine nest, that is,

Start with the largest and decrease in turn for judgment.

首先，规划确认只能巡检一基塔的任务，此任务满足条件是筛查出机巢覆盖范围内，距离机巢原点远，并且自身杆塔复杂度高的杆塔，作为单基塔任务来执行，用公式表示为：First of all, the plan confirms that only one base tower can be inspected. This task satisfies the condition that the towers within the coverage of the machine nest, far away from the origin of the machine nest, and with high tower complexity are screened out and executed as a single base tower task. , expressed as:

其中，

这里杆塔N的复杂度记作Tn，单位为秒，杆塔N的三维坐标记作(Xn，Yn，Zn)，单位为米，还有无人机的巡航能力记作T，单位为秒，无人机巡检速度V，单位为米每秒，还有机巢位置(0，0，0)，单位为米。 in,

Here, the complexity of the tower N is denoted as Tn, and the unit is seconds. The three-dimensional coordinates of the tower N are denoted as (Xn, Yn, Zn), and the unit is meters. The cruising capability of the drone is denoted as T, and the unit is seconds. Man-machine inspection speed V, in meters per second, and machine nest position (0, 0, 0), in meters.

上述公式的判定原则是：无人机单独巡视完某基杆塔后，剩余的续航能力小于机巢覆盖范围内所有其他杆塔的复杂度T，即本基杆塔只能通过单次巡检任务完成，这些杆塔被认为是机巢覆盖范围最远的航线任务。The judgment principle of the above formula is: after the UAV has inspected a certain base tower alone, the remaining battery life is less than the complexity T of all other towers within the coverage of the machine nest, that is, the basic tower can only be completed by a single inspection task. These towers are considered to be the furthest line missions covered by the nest.

其次，有些杆塔的任务是

但是其周边的杆塔T _n-1又不足以利用巡检杆塔Tn后的剩余续航能力去完成单次巡检，用公式表达为： Secondly, the task of some towers is

However, the surrounding towers Tn _-1 are not enough to use the remaining battery life after the inspection tower Tn to complete a single inspection, which is expressed by the formula:

且：

and:

其中，T _n-1为距离Tn直线距离较近的周边的杆塔，因其编号为n-1，故其更加靠近机巢原点；至此，所有单基塔任务的航线已经规划完毕。 Among them, T _n-1 is the surrounding tower that is closer to Tn straight-line distance, because its number is n-1, so it is closer to the origin of the machine nest; so far, the routes of all single-base tower missions have been planned.

接下来是包含两基杆塔的航线任务，判定原则是无人机单独巡视完某基杆塔后，剩余的续航能力仅够该杆塔附近的一基杆塔继续巡检，则无人机直线飞向附近该杆塔继续巡视，然后直线返回机巢，其航线路径构成一个三角形。Next is the route mission that includes two base towers. The judgment principle is that after the drone has inspected a base tower alone, the remaining battery life is only enough to continue the inspection of a base tower near the tower, and the drone will fly straight to the nearby tower. The tower continues to patrol, and then returns to the machine nest in a straight line, and its route path forms a triangle.

需要特别指出的是，航线规划的顺序是由远及近，即编号从大到小，某一杆塔巡检完毕后，还有续航能力，搜索附近杆塔时只能搜索比当前杆塔编号小的杆塔号，保证了方法的清晰性。It should be pointed out that the order of route planning is from far to near, that is, the number is from large to small. After the inspection of a certain tower is completed, there is still endurance. When searching for nearby towers, only the towers with a smaller number than the current tower can be searched. No., to ensure the clarity of the method.

公式表示如下：The formula is expressed as follows:

接下来是包含三基杆塔的航线任务。该航线任务构成四边形，此时需要搜索附近杆塔的单向性，比如图16左边中的杆塔3-2-1即为顺时针搜索方式，这样可以避免航线的交叠，优化了航线路径，因为杆塔3距离机巢原点较杆塔1远，航线规划是从杆塔3开始计算的，实际上当航线任务确定后，可以逆序巡检，比如杆塔3-2-1或者1-2-3巡检顺序均可行，因为巡检路径距离是等长的，这里之所以规划的航线是3-2-1，遵循了杆塔由远及近的规划原则，该原则较反向的由近及远的规划方式计算出来的路径更短。Next is the route task that includes the three base towers. The route task constitutes a quadrilateral. At this time, it is necessary to search for the unidirectionality of nearby towers. For example, the tower 3-2-1 on the left side of Figure 16 is a clockwise search method, which can avoid overlapping routes and optimize the route path, because Tower 3 is farther away from the origin of the machine nest than tower 1, and the route planning is calculated from tower 3. In fact, when the route task is determined, it can be inspected in reverse order, such as tower 3-2-1 or 1-2-3. It is feasible, because the distance of the inspection path is equal. The reason why the planned route here is 3-2-1 follows the planning principle of the tower from far to near. This principle is calculated in the opposite way from near to far. The path out is shorter.

依次类推，可以逐步规划出包含四基或者五基等的航线任务。例如四基航线规划出来的是不规则五边形，五条边长加起来就是航线总长度。随着航线规划越来越多，意味着距离机巢原点较远的杆塔已经被规划到航线，距离机巢原点越近的杆塔，其搜索附近杆塔的范围会越来越大，这是因为距离机巢原点越近的杆塔的剩余续航能力会越来越大。By analogy, it is possible to gradually plan route missions that include four bases or five bases. For example, the plan of the four-base route is an irregular pentagon, and the sum of the lengths of the five sides is the total length of the route. As more and more flight routes are planned, it means that the towers that are farther away from the origin of the machine nest have been planned into the route. The closer the towers are to the origin of the machine nest, the wider the range of the search for nearby towers will be. This is because the distance The closer the origin of the machine nest, the remaining battery life of the tower will be greater and greater.

如图16所示，两个图差别是杆塔6，1，2，3的航线规划，左图杆塔6先进行规划，根据续航能力搜寻附近范围杆塔，如果搜寻范围不包含杆塔1，则如左图所示，杆塔6只能被规划为单基航线任务，而如右图所示，如果杆塔6的规划范围内包含杆塔1，再通过计算杆塔6，杆塔1和机巢原点构成的三角形航线满足无人机续航能力，则将杆塔6和杆塔1规划成双基航线。As shown in Figure 16, the difference between the two diagrams is the route planning of

towers

6, 1, 2, and 3. In the left diagram, tower 6 is planned first, and towers in the nearby range are searched according to the endurance capability. If the search range does not include tower 1, then the left As shown in the figure, tower 6 can only be planned as a single-base route task, and as shown in the right figure, if the planning range of tower 6 includes tower 1, then calculate the triangular route formed by tower 6, tower 1 and the origin of the machine nest To meet the endurance capability of the UAV, the tower 6 and the tower 1 are planned as a dual-base route.

本实施例中，如图17，网格化体现在对一片遍布电力杆塔的区域内基于变电站部署多台机巢，像网格一样在该区域内交错部署，对于两个机巢覆盖范围，如果该区域内有电力杆塔需要巡检，其最优路径生成方法是：In this embodiment, as shown in Figure 17, the grid is embodied in the deployment of multiple machine nests based on substations in an area all over the power towers, and the staggered deployment in this area like a grid. For the coverage of two machine nests, if There are power towers in this area that need to be inspected, and the optimal path generation method is:

首先，判断该电力杆塔距离哪一个无人机机巢较近，因为距离近的巡检路径更短，一个杆塔只需要一台无人机机巢巡检任务中包含一次即可；First, judge which UAV nest is closer to the power pole tower, because the inspection path with the closer distance is shorter, and a pole tower only needs to be included once in the inspection task of one UAV nest;

其次，按照上述的单个机巢的航线规划方法先对该机巢覆盖范围内的电力杆塔从距离由近及远编号从小到大，航线规划起始杆塔则从编号最大即距离无人机机巢最远的杆塔开始，由远及近的判断该杆塔是单基航线任务还是多基航线任务即可。Secondly, according to the above-mentioned route planning method for a single machine nest, the power towers within the coverage of the machine nest are numbered from near to far from small to large, and the initial towers of the route planning are numbered from the largest number that is the distance to the UAV machine nest. Starting from the farthest tower, it is enough to judge whether the tower is a single-base route mission or a multi-base route mission from far to near.

如果遇到一个电力杆塔被两台无人机机巢或者多台无人机机巢都包含和覆盖，判断该杆塔归属哪台无人机机巢的航线任务即可。If a power tower is contained and covered by two UAV nests or multiple UAV nests, it is sufficient to determine which UAV nest the tower belongs to.

可以理解的，在变电站里部署的机巢不仅仅局限于一台，例如为了提高巡检效率，一个变电站可以部署多台机巢，分别完成不同方向或者不同电压等级等不同要求的线路巡检，这样的变电站内的网格化部署更增加了机巢网格化的意义和可实施性。It is understandable that the machine nest deployed in the substation is not limited to one. For example, in order to improve the inspection efficiency, a substation can deploy multiple machine nests to complete line inspections with different requirements such as different directions or different voltage levels. The grid deployment in such a substation further increases the significance and feasibility of the grid grid.

当所有无人机机巢及其对应的杆塔绑定，并且航线任务规划完成后，每个杆塔只存在于某一个无人机机巢的某一个航线任务中，保证了无重复巡检路径，后台控制终端根据无人机机巢的SN码，下发只有该机巢所拥有的航线，保证每一条航线与无人机机巢的一一对应关系。When all drone nests and their corresponding towers are bound, and the route task planning is completed, each tower only exists in a certain route mission of a certain drone nest, ensuring that there is no repeated inspection path. According to the SN code of the UAV nest, the background control terminal issues only the routes owned by the nest to ensure the one-to-one correspondence between each route and the UAV nest.

实施例4：Example 4:

本发明实施例4提供了一种无人机任务执行环境判断方法，利用实施例1或实施例2所述的网格化机巢的无人机巡检***，所述方法包括： Embodiment 4 of the present invention provides a method for judging the execution environment of a UAV task, using the UAV inspection system of the gridded machine nest described in Embodiment 1 or Embodiment 2, the method includes:

根据无人机位置选定目标机巢，根据飞行指令确定对应的飞行影响因素，并在选定的目标机巢的外环境信息中调取对应的飞行环境数据；根据飞行环境数据判断飞行条件，若飞行环境数据不满足飞行条件，则控制无人机返航；Select the target machine nest according to the position of the drone, determine the corresponding flight influencing factors according to the flight instructions, and retrieve the corresponding flight environment data from the external environment information of the selected target machine nest; judge the flight conditions according to the flight environment data, If the flight environment data does not meet the flight conditions, control the UAV to return;

根据返航指令确定对应的降落影响因素，以根据所述降落影响因素在目标机巢的机巢外环境信息和机巢内环境信息中调取对应的降落环境数据和返仓环境数据；根据降落环境数据控制无人机的降落方式，根据返仓环境数据调整机巢内环境，直至无人机返回目标机巢内。Determine the corresponding landing influence factors according to the return order, so as to retrieve the corresponding landing environment data and return environment data from the machine nest external environment information and machine nest internal environment information of the target machine nest according to the landing influence factors; according to the landing environment The data controls the landing method of the drone, and adjusts the environment in the machine nest according to the return environment data until the drone returns to the target machine nest.

在本实施例中，所述机巢内环境信息包括：机巢内温度、机巢内湿度和机巢内烟雾浓度；In this embodiment, the environmental information in the machine nest includes: temperature in the machine nest, humidity in the machine nest, and smoke concentration in the machine nest;

所述机巢内环境信息采用温度传感器、湿度传感器和烟雾传感器进行采集；The environmental information in the machine nest is collected by temperature sensors, humidity sensors and smoke sensors;

其中，温度传感器用于采集机巢内环境温度，当温度低于设定温度范围下限时，通过控制空调加热功能使机巢室内温度达到正常工作范围，当温度高于设定温度范围上限时，开启空调降温功能，使机巢内部环境温度达到正常工作范围；湿度传感器用于检测机巢内环境湿度，当机巢内湿度高于设定阈值时，开启空调抽湿功能；烟雾传感器用于检测机巢内烟雾浓度。Among them, the temperature sensor is used to collect the ambient temperature in the machine nest. When the temperature is lower than the lower limit of the set temperature range, the temperature in the machine nest can reach the normal working range by controlling the heating function of the air conditioner. When the temperature is higher than the upper limit of the set temperature range, Turn on the cooling function of the air conditioner to make the ambient temperature inside the machine nest reach the normal working range; the humidity sensor is used to detect the ambient humidity in the machine nest, and when the humidity in the machine nest is higher than the set threshold, the dehumidification function of the air conditioner is turned on; the smoke sensor is used to detect Smoke concentration in the machine nest.

在本实施例中，所述机巢外环境信息包括：风速、风向、机巢外温度、机巢外湿度、雨量、气压、光照强度和能见度；In this embodiment, the environment information outside the machine nest includes: wind speed, wind direction, temperature outside the machine nest, humidity outside the machine nest, rainfall, air pressure, light intensity and visibility;

所述机巢外环境信息采用风速传感器、风向传感器、温度传感器、湿度传感器、雨量计、气压计、光敏传感器和能见度传感器进行采集；The environmental information outside the machine nest is collected by wind speed sensors, wind direction sensors, temperature sensors, humidity sensors, rain gauges, barometers, photosensitive sensors and visibility sensors;

其中，风速传感器用于机巢所在位置的风速测量；风向传感器用于风向测量；温度传感器用于环境温度测量；湿度传感器用于环境湿度测量；雨量计用于降雨情况下雨量测量，可用于区分小雨、中雨、大雨等；气压计用于测量本地气压；光敏传感器用于测量当前光照强度；能见度传感器可对大气能见度进行连续输出。Among them, the wind speed sensor is used to measure the wind speed at the location of the machine nest; the wind direction sensor is used to measure the wind direction; the temperature sensor is used to measure the ambient temperature; the humidity sensor is used to measure the ambient humidity; Light rain, moderate rain, heavy rain, etc.; the barometer is used to measure the local air pressure; the photosensitive sensor is used to measure the current light intensity; the visibility sensor can continuously output the atmospheric visibility.

在本实施例中，上述若干个传感器将采集的数据通过无线通信进行传输。In this embodiment, the above-mentioned several sensors transmit the collected data through wireless communication.

作为可选择的实施方式，无线通信可采用UWB无线通信技术，具备低功耗、数据传输速率高、抗干扰能力强、穿透能力强等特点。As an optional implementation mode, wireless communication can adopt UWB wireless communication technology, which has the characteristics of low power consumption, high data transmission rate, strong anti-interference ability, and strong penetrating ability.

可以理解的，采用UWB无线通信只是本实施例给出一种可实现的实施方式，但并不限于该种无线通信方式，在更多实施例中，也可根据现场实际情况采用其他无线通信方式，如4G、5G等。It can be understood that the use of UWB wireless communication is only an achievable implementation method given in this embodiment, but it is not limited to this wireless communication method. In more embodiments, other wireless communication methods can also be used according to the actual situation on site. , such as 4G, 5G, etc.

可以理解的，本实施例只是列举了集中现场常用的数据类型及传感器类型，在更多实施例中，可以根据实际情况增加传感器类型或删除传感器类型。It can be understood that this embodiment only lists commonly used data types and sensor types in centralized sites. In more embodiments, sensor types can be added or deleted according to actual conditions.

在本实施例中，通过各类传感器对机巢内、外环境数据进行采集，并对采集的传感数据进行预处理，所述预处理包括：通过滑动平均低通滤波器对传感器数据进行预处理，滤除跳变或异常环境信息，获得预处理后相对平稳的环境信息；In this embodiment, various types of sensors are used to collect the internal and external environmental data of the machine nest, and the collected sensory data are preprocessed, and the preprocessing includes: preprocessing the sensor data through a moving average low-pass filter Processing, filtering out jumps or abnormal environmental information, and obtaining relatively stable environmental information after preprocessing;

作为可选择的实施方式，所述滑动平均低通滤波器模型为取N点滑动平均滤波器的输出：y(n)＝[x(n-N+1)+x(n-N+2)...+x(n)]/N。As an optional implementation, the moving average low-pass filter model is to take the output of an N-point moving average filter: y(n)=[x(n-N+1)+x(n-N+2) ...+x(n)]/N.

在本实施例中，根据任务指令对影响因素进行划分，以针对不同任务指令结合所需影响因素进行飞行条件的判断；In this embodiment, the influencing factors are divided according to the mission instructions, so as to judge the flight conditions according to different mission instructions combined with the required influencing factors;

如图18所示，具体地，任务指令包含无人机存储、无人机充电、无人机巡检、机巢自检、机巢开关动作、机巢开启状态、无人机飞行任务、无人机精降、无人机备降等；As shown in Figure 18, specifically, the task instruction includes UAV storage, UAV charging, UAV inspection, machine nest self-inspection, machine nest switch action, machine nest open state, UAV flight task, wireless Man-machine precise landing, unmanned aerial vehicle backup landing, etc.;

具体地，无人机存储、无人机充电以及机巢自检的主要影响因素为机巢内环境信息，包括机巢内温度、机巢内湿度和机巢内烟雾浓度；Specifically, the main influencing factors of UAV storage, UAV charging and machine nest self-inspection are the environmental information in the machine nest, including the temperature in the machine nest, the humidity in the machine nest, and the smoke concentration in the machine nest;

无人机巡检的主要影响因素包括：风速、风向、机巢外温度、雨量、气压计、光照强度、能见度；The main influencing factors of drone inspection include: wind speed, wind direction, temperature outside the machine nest, rainfall, barometer, light intensity, and visibility;

机巢开关动作的主要影响因素为雨量情况、机巢内烟雾浓度；The main factors affecting the switch action of the machine nest are the rainfall and the smoke concentration in the machine nest;

无人机飞行任务中的主要影响因素为风速、风向、气压计、能见度；The main influencing factors in UAV flight missions are wind speed, wind direction, barometer, and visibility;

无人机精降的主要影响因素为风速、风向、光照强度、能见度；The main factors affecting UAV precision landing are wind speed, wind direction, light intensity, and visibility;

无人机备降的主要影响因素为风速、风向。The main factors affecting the drone landing are wind speed and wind direction.

作为可选择的实施方式，以无人机存储任务为例，结合该任务条件下的环境影响因素，通过阈值判断法进行任务适合条件判断，如图19所示：As an optional implementation, take the UAV storage task as an example, combine the environmental factors under the task conditions, and use the threshold judgment method to judge the suitability of the task, as shown in Figure 19:

获取机巢内温度、机巢内湿度和机巢内烟雾浓度；Obtain the temperature in the machine nest, the humidity in the machine nest and the smoke concentration in the machine nest;

预设温度阈值、湿度阈值和烟雾阈值；Preset temperature threshold, humidity threshold and smoke threshold;

判断机巢内温度是否满足温度阈值条件，若不满足，则机巢内温度异常；Determine whether the temperature in the machine nest meets the temperature threshold condition, if not, the temperature in the machine nest is abnormal;

若满足，则判断机巢内湿度是否满足湿度阈值条件，若不满足，则机巢内湿度异常；If it is satisfied, it is judged whether the humidity in the machine nest meets the humidity threshold condition, if not, the humidity in the machine nest is abnormal;

若满足，则通过烟雾阈值判断机巢内是否有烟雾，若有，则机巢内烟雾异常，若无，则机巢内部环境正常，无人机可正常返仓。If it is satisfied, judge whether there is smoke in the machine nest through the smoke threshold. If there is, the smoke in the machine nest is abnormal. If there is no smoke, the internal environment of the machine nest is normal, and the drone can return to the warehouse normally.

作为可选择的实施方式，当前判断结果和异常因素打包成报文信息进行推送，对应任务的输出采用U8类型的数据表示当前判断结果及异常因素，其中，01为任务编号，后面的8位数据用于表示判断结果，判断结论处为综合环境判断结果0为异常，1为适宜；后面依次为传感器判断结论，0为当前环境项异常，否则环境适合，当环境判断结果为1时，传感器判断结果均为1，否则通过传感器所在位置的寄存器数据判读出当前哪个环境不满足当前任务需求，依次类推形成不同任务下的报文信息，可根据当前任务状态直接调用判断结果，并做出是否执行任务的决策。As an optional implementation, the current judgment result and abnormal factors are packaged into message information for push, and the output of the corresponding task uses U8 type data to represent the current judgment result and abnormal factors, where 01 is the task number, and the following 8-bit data It is used to indicate the judgment result, where the judgment conclusion is the comprehensive environment judgment result, 0 is abnormal, 1 is suitable; the following is the sensor judgment conclusion, 0 is the current environment item is abnormal, otherwise the environment is suitable, when the environment judgment result is 1, the sensor judgment The results are all 1, otherwise, judge which environment does not meet the current task requirements through the register data at the location of the sensor, and so on to form message information under different tasks, and directly call the judgment result according to the current task status, and decide whether to execute task decision.

作为可选择的实施方式，报文信息以不低于设定速率对外进行发送。As an optional implementation manner, the packet information is sent out at a rate not lower than a set rate.

作为可选择的实施方式，上述方法可应用于单机巢以及在单机巢感知范围执行飞行任务的无人机，具体包括：As an optional implementation, the above method can be applied to a single-machine nest and an unmanned aerial vehicle that performs flight tasks within the range of perception of a single-machine nest, specifically including:

获取单机巢的内环境信息和单机巢感知范围内的机巢外环境信息；Obtain the internal environment information of the stand-alone nest and the external environment information of the stand-alone nest within the perception range of the stand-alone nest;

根据飞行指令确定对应的飞行影响因素，以在单机巢的外环境信息中调取对应的飞行环境数据；根据飞行环境数据判断飞行条件，若飞行环境数据不满足飞行条件时，控制无人机返航；Determine the corresponding flight influencing factors according to the flight instructions, so as to retrieve the corresponding flight environment data from the external environment information of the stand-alone nest; judge the flight conditions according to the flight environment data, and control the UAV to return if the flight environment data does not meet the flight conditions ;

根据返航指令确定对应的降落影响因素，以在单机巢的外环境信息和内环境信息中调取对应的降落环境数据和返仓环境数据；根据降落环境数据控制无人机的降落方式，根据返仓环境数据调整机巢内环境，直至无人机返回机巢内。Determine the corresponding landing impact factors according to the return command, so as to retrieve the corresponding landing environment data and return environment data from the external environment information and internal environment information of the stand-alone nest; control the landing mode of the UAV according to the landing environment data, and The warehouse environment data adjusts the environment in the machine nest until the drone returns to the machine nest.

在该实施方式中，采用一巢一机的方式，无人机的飞行任务均处于机巢的感知范围内，所以机巢能够实时采集无人机在飞行任务过程中，以及返航的环境信息，从而进行条件判断。In this embodiment, one nest and one machine are adopted, and the flight missions of the UAV are all within the perception range of the nest, so the nest can collect the environmental information of the UAV during the flight mission and the return flight in real time. So as to judge the condition.

作为可选择的实施方式，若无人机飞出了机巢的感知范围，则采用网格化部署的多个机巢以及在机巢感知范围执行飞行任务的无人机的方法，具体方法包括：As an optional implementation, if the unmanned aerial vehicle flies out of the perception range of the nest, the method of using multiple nests deployed in a grid and the unmanned aerial vehicle performing flight tasks within the perception range of the nest, the specific methods include :

根据无人机位置选定的目标机巢，根据飞行指令确定对应的飞行影响因素，并在其机巢外环境信息中调取对应的飞行环境数据；根据飞行环境数据判断飞行条件，若飞行环境数据不满足飞行条件时，控制无人机返航；According to the target machine nest selected by the position of the UAV, determine the corresponding flight influencing factors according to the flight instructions, and retrieve the corresponding flight environment data from the environmental information outside the machine nest; judge the flight conditions according to the flight environment data, if the flight environment When the data does not meet the flight conditions, control the UAV to return;

根据返航指令确定对应的降落影响因素，以在目标机巢的机巢外环境信息和机巢内环境信息中调取对应的降落环境数据和返仓环境数据；根据降落环境数据控制无人机的降落方式，根据返仓环境数据调整机巢内环境，直至无人机返回目标机巢内。Determine the corresponding landing impact factors according to the return instruction, so as to retrieve the corresponding landing environment data and return environment data from the environment information outside the machine nest and the environment information inside the machine nest of the target machine nest; The landing method is to adjust the environment in the machine nest according to the return environment data until the drone returns to the target machine nest.

在该实施例中，机巢间的距离不超出其感知距离，即若无人机飞出了其中一个机巢的感知范围，则会落入另一个机巢的感知范围内，所以根据无人机位置，判断无人机是否落入机巢的感知范围内，以落入感知范围的机巢为目标机巢，由目标机巢采集无人机在飞行任务过程中以及返航的环境信息；In this embodiment, the distance between the nests does not exceed its sensing distance, that is, if the drone flies out of the sensing range of one nest, it will fall into the sensing range of the other nest, so according to the The position of the drone is judged whether the UAV falls within the sensing range of the nest, and the nest that falls into the sensing range is used as the target nest, and the target nest collects the environmental information of the drone during the flight mission and the return flight;

若两个机巢的感知范围重叠，则根据无人机与机巢的距离，以距离最近的机巢为目标机巢。If the sensing ranges of two nests overlap, the closest nest will be used as the target nest according to the distance between the drone and the nest.

在本实施例中，上述方法的无人机飞行条件判断流程，具体包括：In this embodiment, the UAV flight condition judgment process of the above method specifically includes:

接收传感器信息及任务指令；Receive sensor information and mission instructions;

根据任务指令，判断任务类别，进行任务分解；According to the task instruction, judge the task category and decompose the task;

若是巡检指令，判断当前机巢外环境是否适宜巡检任务；如果不允许，则终止任务，并上传任务终止原因；If it is an inspection command, judge whether the environment outside the current machine nest is suitable for the inspection task; if not allowed, terminate the task and upload the reason for the termination of the task;

若适宜执行任务，则进行机巢自检；If it is suitable to perform the task, perform nest self-inspection;

机巢自检通过后，无人机起飞，执行巡检任务；After the self-inspection of the nest is passed, the drone takes off and performs inspection tasks;

在巡检任务执行过程中，判断外环境是否出现巡检不利条件；During the execution of the patrol inspection task, judge whether there are unfavorable inspection conditions in the external environment;

如果外环境不适宜飞行或无人机接收到返航指令，则无人机返航，并判断当前环境是否满足精降条件；If the external environment is not suitable for flying or the UAV receives a return instruction, the UAV will return and judge whether the current environment meets the precision landing conditions;

如果满足精降，则执行无人机精降，同时判断机巢是否满足无人机的存储和充电，如果机巢内环境异常，调整机巢内环境，直至无人机能够实现充电和存储；If the precision landing is satisfied, perform the precise landing of the drone, and at the same time judge whether the machine nest meets the storage and charging of the drone. If the environment in the machine nest is abnormal, adjust the environment in the machine nest until the drone can realize charging and storage;

如果不满足精降，则执行无人机备降；If the precise landing is not satisfied, the UAV will be executed as an alternate landing;

如果不满足无人机备降，则无人机强行降落，且上传迫降状态和不利因素。If the UAV alternate landing is not satisfied, the UAV will be forced to land, and the forced landing status and unfavorable factors will be uploaded.

在本实施例中，调整机巢内环境的过程包括：In this embodiment, the process of adjusting the environment in the machine nest includes:

若机巢内温度低于设定温度范围下限时，通过控制空调加热功能使机巢内温度达到正常工作范围；If the temperature in the machine nest is lower than the lower limit of the set temperature range, the temperature in the machine nest can reach the normal working range by controlling the heating function of the air conditioner;

当机巢内温度高于设定温度范围上限时，开启空调降温功能，使机巢内部环境温度达到正常工作范围；When the temperature inside the nest is higher than the upper limit of the set temperature range, the air conditioner cooling function is turned on to make the ambient temperature inside the nest reach the normal working range;

当机巢内湿度高于设定阈值时，开启空调抽湿功能；When the humidity in the machine nest is higher than the set threshold, the dehumidification function of the air conditioner is turned on;

若机巢内烟雾异常，则执行无人机备降。If the smoke in the machine nest is abnormal, the UAV will be executed as an alternate landing.

实施例5：Example 5:

如图20所示，本发明实施例5提供了一种无人机精准降落控制方法，利用实施例1或实施例2所述的网格化机巢的无人机巡检***，包括以下过程：As shown in Figure 20, Embodiment 5 of the present invention provides a precise landing control method for UAVs, using the UAV inspection system for gridded machine nests described in Embodiment 1 or Embodiment 2, including the following process :

获取无人机的定位数据；Obtain the positioning data of the drone;

根据获取的定位数据，判断无人机是否位于预设降落范围内，当无人机没有位于预设降落范围内时，控制无人机移动直至满足位置要求；According to the acquired positioning data, it is judged whether the UAV is within the preset landing range, and when the UAV is not within the preset landing range, the UAV is controlled to move until the location requirements are met;

本实施例中，精降范围码和精降位置码是挨着的一大一小，大的叫精降范围码，在高空时使用，主要是用来确定无人机降落的大致位置，不断降落，调整位姿。小的叫精降位置码，到低空时，无人机开始识别，不断的调整位姿最后降落在这个小的无人机精降位置码。In this embodiment, the fine-falling range code and the fine-falling position code are next to each other, one big and one small, and the big one is called the fine-falling range code, which is used at high altitude and is mainly used to determine the approximate location of the drone’s landing. Landing, adjust posture. The small one is called the precision landing position code. When it reaches low altitude, the UAV starts to recognize it, constantly adjusts its posture and finally lands on this small UAV precision landing position code.

本实施例所述的方法，首先利用无人机RTK技术使无人机执行完任务可以快速准确的回到降落点上方，RTK技术可以使无人机飞行的误差达到厘米级，这样使无人机可以快速的回到降落点，不需要更新多次坐标；到达降落范围开启摄像搜索降落范围码，接收图像完成并在0.7s内识别完成返回无人机调整身姿，降落到20厘米高度实现盲降，实现无人机巡检任务完全自动化。The method described in this embodiment first utilizes the UAV RTK technology to enable the UAV to quickly and accurately return to the top of the landing point after performing the task. The RTK technology can make the error of the UAV flight reach the centimeter level, so that no one The drone can quickly return to the landing point without updating the coordinates multiple times; when it reaches the landing range, turn on the camera to search the landing range code, receive the image and complete the recognition within 0.7s Return to the drone to adjust its posture and land to a height of 20 cm to achieve Blind landing, to realize the complete automation of drone inspection tasks.

实施例6：Embodiment 6:

本发明实施例6提供了一种基于视觉移动跟踪的无人机巡检方法，利用实施例1或实施例2所述的网格化机巢的无人机巡检***，其中：Embodiment 6 of the present invention provides a UAV inspection method based on visual movement tracking, using the UAV inspection system of gridded machine nest described in Embodiment 1 or Embodiment 2, wherein:

无人机上载有三轴云台、RTK定位模块和前端AI处理模块，三轴云台上安装相机和摄像机；所述相机为单目可变焦相机；所述摄像机用于获取杆塔的视频信息；其中，相机与摄像机集成在一个镜头。The UAV is equipped with a three-axis gimbal, an RTK positioning module and a front-end AI processing module, and a camera and a video camera are installed on the three-axis gimbal; the camera is a monocular zoom camera; the camera is used to obtain video information of the tower; , the camera and video camera are integrated in one lens.

前端AI处理模块，用于拟合无人机飞控数据、RTK定位模块数据和变焦相机采集图像，下发飞控命令控制无人机飞行，控制云台调整相机角度和变焦，锁定巡检目标并拍照；利用视觉变焦广角相机在接近悬停点的飞行过程中拍摄照片，计算拍摄照片的坐标值(GPS值)和云台的姿态，通过相机成像原理识别出照片中的巡检目标；依据当前无人机GPS位置和三维速度和云台的姿态的滚转角、俯仰角和偏航角通过卡尔曼滤波算法调整无人机云台的位置，将变焦相机通过变焦锁定到杆塔目标检视点；最后进行拍照以完成对杆塔目标检视点的信息采集，从而提高巡检目标信息采集的准确性和采集图像的质量。The front-end AI processing module is used to fit the UAV flight control data, RTK positioning module data and zoom camera to collect images, issue flight control commands to control the flight of the UAV, control the gimbal to adjust the camera angle and zoom, and lock the inspection target And take pictures; use the visual zoom wide-angle camera to take photos during the flight approaching the hovering point, calculate the coordinate value (GPS value) and the attitude of the gimbal of the photo, and identify the inspection target in the photo through the camera imaging principle; according to The current GPS position and three-dimensional velocity of the UAV and the roll angle, pitch angle and yaw angle of the attitude of the gimbal are adjusted by the Kalman filter algorithm to adjust the position of the gimbal of the UAV, and the zoom camera is locked to the target inspection point of the tower through zooming; Finally, take pictures to complete the information collection of the tower target inspection point, thereby improving the accuracy of the inspection target information collection and the quality of the collected images.

在无人机的进入巡检目标和离开巡检目标之间飞行过程中，无人机始终按照设定航迹飞行，通过卡尔曼滤波算法拟合当前位置和速度数据实时调整云台姿态和相机变焦实现相机对巡检目标的移动追踪和锁定拍摄。During the flight process between the UAV entering the inspection target and leaving the inspection target, the UAV always flies according to the set track, and adjusts the attitude of the gimbal and the camera in real time by fitting the current position and speed data through the Kalman filter algorithm Zooming realizes the camera's mobile tracking and locking shooting of the inspection target.

在采用基于视觉移动跟踪方式来控制云台转动时，云台有m个自由度，云台转动的角速度为w＝[w ₁,...,w _m]，末端的线速度为v＝[v ₁,...,v _m]，两者具有如下关系： When using the visual movement tracking method to control the rotation of the gimbal, the gimbal has m degrees of freedom, the angular velocity of the gimbal rotation is w=[w ₁ ,...,w _m ], and the linear velocity at the end is v=[ v ₁ ,...,v _m ], the two have the following relationship:

v＝J _v×w v＝J _v ×w

其中，

in,

计算大地坐标系转换到相机坐标系的旋转矩阵R _cw： Calculate the rotation matrix R _cw from the earth coordinate system to the camera coordinate system:

其中，下标cw代表大地坐标系转换到相机坐标系的简称，R _cwx(φ)、R _cwy(θ)、R _cwz(ψ)代表从相机坐标系到大地坐标系需要绕着x、y、z轴旋转的矩阵，φ、θ、

分别为相机云台姿态的翻滚角、俯仰角和偏航角，根据相机的初始朝向，还需左乘一个初始旋转R _cw0，此时： Among them, the subscript cw represents the abbreviation for converting the earth coordinate system to the camera coordinate system, and R _cwx (φ), R _cwy (θ), and R _cwz (ψ) represent the need to go around x, y, The matrix of z-axis rotation, φ, θ,

They are the roll angle, pitch angle, and yaw angle of the camera gimbal attitude respectively. According to the initial orientation of the camera, an initial rotation R _cw0 needs to be multiplied to the left. At this time:

R _cw＝R _cw0×(R _cwx(φ)×R _cwy(θ)×R _cwz(ψ)) R _cw ＝R _cw0 ×(R _cwx (φ)×R _cwy (θ)×R _cwz (ψ))

式中，

In the formula,

如图21所示，具体步骤包括：As shown in Figure 21, the specific steps include:

S1：依据巡检要求，无人机匀速进入悬停点前采用云台上的单目变焦(长焦模式)相机获取巡检目标实时广角图像，并进入下一步；S1: According to the inspection requirements, before the UAV enters the hovering point at a constant speed, use the monocular zoom (telephoto mode) camera on the gimbal to obtain a real-time wide-angle image of the inspection target, and enter the next step;

S2：判断巡检目标是否位于拍摄获取的实时图像中，若是，则进入S4；否则，“O”形控制云台姿态搜寻实时图像中巡检目标，搜寻到后进入下一步；S2: Determine whether the inspection target is located in the real-time image captured by shooting, if so, go to S4; otherwise, the "O" shape controls the pan-tilt attitude to search for the inspection target in the real-time image, and enters the next step after finding it;

S3：前端AI处理模块根据实时图像中巡检目标位置，无人机拍摄位置，三轴云台姿态等信息采用卡尔曼滤波算法拟合出需要调整的无人机位置和云台姿态位置以及相机焦距模式，转入执行S2；S3: The front-end AI processing module uses the Kalman filter algorithm to fit the position of the drone, the position of the gimbal and the camera that need to be adjusted according to the position of the inspection target in the real-time image, the shooting position of the drone, and the attitude of the three-axis gimbal. In focal length mode, go to S2;

S4：无人机匀速到达悬停点前过程中，调整云台上的单目变焦(近焦模式)相机，前端AI处理模块依据无人机匀速飞行三维方向，实时反向调整三轴云台的姿态，以达到单目变焦相机实时图像的中央位置锁定巡检目标，并进入下一步；S4: Before the UAV reaches the hovering point at a constant speed, adjust the monocular zoom (near focus mode) camera on the gimbal, and the front-end AI processing module reversely adjusts the three-axis gimbal in real time according to the 3D direction of the UAV flying at a constant speed attitude to achieve the central position of the real-time image of the monocular zoom camera to lock the inspection target and enter the next step;

S5：无人机到达悬停点位置，即巡检目标正前方正面方向，确认单目变焦相机实时图像的中央位置锁定检视点并拍照，并进入下一步；S5: The drone arrives at the hovering point, that is, the frontal direction of the inspection target, confirms the central position of the real-time image of the monocular zoom camera, locks the inspection point and takes a photo, and enters the next step;

S6：相机拍摄完成，前端AI处理模块处理照片，控制无人机执行下一个悬停点任务，重新执行S1，直到完成所有悬停点拍摄并安全返航；S6: The camera shooting is completed, the front-end AI processing module processes the photos, controls the drone to perform the next hovering point task, and executes S1 again until all hovering point shootings are completed and returns safely;

进一步地，所述S2的具体过程为：Further, the specific process of said S2 is:

采用Faster-RCNN算法将图片输入CNN，进行特征提取；然后判断图片中是否存在巡检目标。The Faster-RCNN algorithm is used to input the picture into CNN for feature extraction; and then judge whether there is an inspection target in the picture.

进一步地，所述S3的具体过程为：Further, the specific process of the S3 is:

该步骤是假设通过S2已经识别到图像中存在巡检目标物体；This step assumes that the inspection target object has been identified in the image through S2;

S3.1：根据图像中检视点目标物体的位置决定云台的转动方向，云台的转动方向为使得杆塔向图像中心偏移的方向；先将云台转动最小单位，获取当前位置处的杆塔图像，并提取其特征；S3.1: Determine the rotation direction of the gimbal according to the position of the target object at the inspection point in the image. The rotation direction of the gimbal is the direction that makes the tower offset to the center of the image; first rotate the gimbal by the smallest unit to obtain the tower at the current position image, and extract its features;

S3.2：匹配前后两张图片特征，并计算其匹配点在像素点的偏移量；S3.2: Match the features of the two pictures before and after, and calculate the offset of the matching point at the pixel point;

S3.3：根据特征偏移量与云台转动量之间的线性映射关系，得到云台转动量。S3.3: Obtain the rotation amount of the gimbal according to the linear mapping relationship between the characteristic offset and the rotation amount of the gimbal.

S3.4：按照转动量调整云台姿态，重新执行S2。S3.4: Adjust the attitude of the gimbal according to the amount of rotation, and execute S2 again.

进一步地，所述S4的具体过程为：Further, the specific process of said S4 is:

假设初始状态即步骤3中所述，已经将巡检目标位于相机图像中央位置；Assume that the initial state is as described in step 3, and the inspection target has been positioned at the center of the camera image;

S4.1：通过无人机上RTK和加速度计计算出当前无人机位置和即将运动三维矢量方向P；S4.1: Calculate the current position of the drone and the three-dimensional vector direction P of the upcoming movement through the RTK and accelerometer on the drone;

S4.2：调整云台相机的运行矢量刚好与无人机的运动矢量大小相等，方向相反；S4.2: Adjust the running vector of the gimbal camera to be exactly equal to the motion vector of the drone, but in the opposite direction;

S4.3：按照S4.2所述方法，计算当前时刻相机中央目标物在像素上的偏移量，如果无偏移量即认为云台相机移动追踪巡检目标物体是相对静止状态，否则进入下一步；S4.3: According to the method described in S4.2, calculate the offset of the camera center target object on the pixel at the current moment. If there is no offset, it is considered that the pan-tilt camera is moving and tracking the inspection target object is relatively static, otherwise enter Next step;

S4.4：根据图像中央像素特征偏移量与云台转动量之间的线性映射关系，得到云台转动量，然后对云台相机进行微调，重新将云台相机中央锁定检视点目标物体。S4.4: According to the linear mapping relationship between the pixel feature offset in the center of the image and the rotation amount of the gimbal, the rotation amount of the gimbal is obtained, and then the gimbal camera is fine-tuned, and the center of the gimbal camera is re-locked to the target object at the inspection point.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

一种网格化机巢的无人机巡检***，其特征在于：An unmanned aerial vehicle inspection system of a gridded machine nest, characterized in that:

包括网格化部署的多个机巢，每个机巢用于容纳至少一台无人机；Including multiple nests deployed in a grid, each nest is used to accommodate at least one drone;

所述机巢包括与控制终端通信的机巢控制器，机巢控制器与无人机遥控器通信，无人机遥控器与无人机通信；The machine nest includes a machine nest controller communicating with the control terminal, the machine nest controller communicates with the UAV remote controller, and the UAV remote controller communicates with the UAV;

控制终端用于根据无人机的当前续航里程以及巡检目标距离各个机巢的距离，以巡检时间最短为优化目标，得到各个机巢对应的巡检目标，根据确定的巡检目标生成各个无人机最优巡检路径并发送给机巢控制器。The control terminal is used to obtain the inspection target corresponding to each machine nest based on the current cruising range of the UAV and the distance between the inspection target and each nest, with the shortest inspection time as the optimization goal, and generate each inspection target according to the determined inspection target. The optimal inspection path of the UAV is sent to the nest controller.
如权利要求1所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 1, is characterized in that:

所述机巢包括：The machine nest includes:

机巢主体，以及设于机巢主体内的承载机构、竖向固定机构和横向固定机构，所述承载机构包括可伸缩的降落平台和第一电机，所述降落平台由第一电机驱动；The main body of the machine nest, and the carrying mechanism, vertical fixing mechanism and horizontal fixing mechanism arranged in the main body of the machine nest, the carrying mechanism includes a retractable landing platform and a first motor, and the landing platform is driven by the first motor;

所述竖向固定机构包括第一回中杆，所述第一回中杆的一端通过转动轴设于机巢主体的侧壁上，第一回中杆上设有齿轮，降落平台上设有与齿轮啮合的齿条，通过齿轮和齿条的啮合驱动第一回中杆绕转动轴转动；The vertical fixing mechanism includes a first centering rod, one end of the first centering rod is arranged on the side wall of the machine nest body through a rotating shaft, gears are provided on the first centering rod, and gears are provided on the landing platform. The rack meshed with the gear drives the first center rod to rotate around the rotation axis through the meshing of the gear and the rack;

所述横向固定机构包括转动杆、第二回中杆和第二电机，所述转动杆的两端设于机巢主体的侧壁上，所述第二回中杆设于转动杆上；转动杆由第二电机驱动，以相对机巢主体，沿降落平台移动方向的反方向转动，从而驱动第二回中杆沿降落平台移动方向的垂直方向移动。The horizontal fixing mechanism includes a rotating rod, a second centering rod and a second motor, the two ends of the rotating rod are arranged on the side wall of the machine nest main body, and the second centering rod is arranged on the rotating rod; The rod is driven by the second motor to rotate in the opposite direction to the moving direction of the landing platform relative to the main body of the machine nest, thereby driving the second centering rod to move in the vertical direction to the moving direction of the landing platform.
如权利要求2所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 2, is characterized in that:

在齿轮和齿条的啮合下，两侧壁上设有的第一回中杆绕轴转动，以使两个第一回中杆的另一端均向中间位置移动或向两侧方向打开。Under the engagement of the gear and the rack, the first centering rods provided on the two side walls rotate around the axis, so that the other ends of the two first centering rods move toward the middle position or open toward both sides.
如权利要求3所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 3, is characterized in that:

转动杆的两端各设一个第二回中杆，在降落平台被驱动复位时，转动杆正向转动，两端的第二回中杆沿转动杆向中间位置移动，以横向约束固无人机；There is a second centering rod at both ends of the rotating rod. When the landing platform is driven to reset, the rotating rod rotates forward, and the second centering rods at both ends move to the middle position along the rotating rod to laterally restrain the UAV. ;

通过齿条和齿轮的啮合，带动两侧壁的第一回中杆向中间位置移动，以竖向约束无人机。Through the meshing of the rack and the gear, the first center rod on the two side walls is driven to move to the middle position to restrain the drone vertically.
如权利要求3所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 3, is characterized in that:

转动杆的两端各设一个第二回中杆，在降落平台被推出机巢主体时，转动杆逆向转动，两端的第二回中杆沿转动杆向两侧移动，以解除对无人机的横向约束；There is a second centering rod at both ends of the rotating rod. When the landing platform is pushed out of the main body of the machine nest, the rotating rod rotates in the opposite direction, and the second centering rods at both ends move along the rotating rod to both sides to release the impact on the UAV. horizontal constraints;

通过齿条和齿轮的啮合，带动两侧壁的第一回中杆向两侧打开，以解除对无人机的竖向约束。Through the meshing of the rack and the gear, the first center rods on the two side walls are driven to open to both sides, so as to release the vertical restraint on the drone.
如权利要求1所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 1, is characterized in that:

所述机巢包括：The machine nest includes:

机巢主体，机巢主体内部包括无人机机位、充电模块以及储能模块；The main body of the machine nest, the main body of the machine nest includes the drone seat, charging module and energy storage module;

机巢主体设置有安装模块，安装模块采用丝杠式自动锁紧结构对机巢主体进行固定，无人机机位设置有在水平和竖直方向自主减震的无人机固定装置，机巢控制器分别与充电模块及安装模块通信。The main body of the machine nest is equipped with an installation module, and the installation module adopts a screw-type automatic locking structure to fix the main body of the machine nest. The controller communicates with the charging module and the installation module respectively.
如权利要求6所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 6, is characterized in that:

所述丝杠式自动锁紧结构包括套筒及固定于第二套筒中心位置的双出轴电机，所述双出轴电机转子两端分别连接有丝杠，所述丝杠的另一端与弹簧滑块的一端通过螺纹孔连接，所述弹簧滑块随丝杠旋转直线运动，并带动与所述弹簧滑块另一端固定连接的伸缩杆的伸缩。The screw-type automatic locking structure includes a sleeve and a double-shaft motor fixed at the center of the second sleeve. Both ends of the rotor of the double-shaft motor are respectively connected to a screw, and the other end of the screw is connected to the One end of the spring slider is connected through a threaded hole, and the spring slider moves linearly with the rotation of the lead screw, and drives the expansion and contraction of the telescopic rod fixedly connected with the other end of the spring slider.
如权利要求1所述的网格化机巢的无人机巡检***，其特征在于：The unmanned aerial vehicle inspection system of gridded machine nest as claimed in claim 1, is characterized in that:

所述无人机上载有三轴云台、RTK定位模块和前端AI处理模块；The drone is equipped with a three-axis gimbal, an RTK positioning module and a front-end AI processing module;

三轴云台上安装相机和摄像机；所述相机为单目可变焦相机；所述摄像机用于获取杆塔的视频信息；其中，相机与摄像机集成在一个镜头；A camera and a camera are installed on the three-axis pan/tilt; the camera is a monocular zoom camera; the camera is used to obtain the video information of the tower; wherein the camera and the camera are integrated into one lens;

RTK定位模块，用于定位无人机三维坐标信息；The RTK positioning module is used to locate the 3D coordinate information of the UAV;

前端AI处理模块，用于拟合无人机飞控数据，RTK定位模块数据，和变焦相机采集图像，下发飞控命令控制无人机飞行，控制云台调整相机角度和变焦，锁定巡检目标并拍照；当巡检目标不位于相机图像的中央位置时，采用基于视觉移动跟踪方式来控制云台转动，通过巡检目标在图像中的位置确定云台的转动方向。The front-end AI processing module is used to fit UAV flight control data, RTK positioning module data, and zoom camera to collect images, issue flight control commands to control UAV flight, control gimbal to adjust camera angle and zoom, and lock inspection Target and take pictures; when the inspection target is not located in the central position of the camera image, use the visual movement tracking method to control the rotation of the pan/tilt, and determine the rotation direction of the pan/tilt by the position of the inspection target in the image.
一种网格化机巢的无人机巡检方法，其特征在于：An unmanned aerial vehicle inspection method for gridded machine nests, characterized in that:

包括以下过程：Including the following process:

获取巡检目标距离各个机巢的距离；Obtain the distance between the inspection target and each machine nest;

选择距离巡检目标最近的机巢为最优机巢；Select the machine nest closest to the inspection target as the optimal machine nest;

依次进行各个巡检目标的判断，得到各个机巢的对应的巡检目标；Carry out the judgment of each inspection target in turn, and obtain the corresponding inspection target of each machine nest;

其中，每一机巢执行巡检任务规划任务，所述任务包括：Wherein, each machine nest executes the inspection task planning task, and the task includes:

根据机巢范围内的巡检目标距离机巢的距离进行巡检目标编号；编号的规则为巡检目标距离机巢的距离越远编号越大；According to the distance between the inspection target within the range of the machine nest and the machine nest, the inspection target number is carried out; the numbering rule is that the farther the inspection target is from the machine nest, the larger the number is;

对于机巢范围内的每一巡检目标，判断无人机总续航时间与巡检目标单独巡检一次的时间的差值是否小于机巢范围内的其他巡检目标单独巡检一次的时间的最小值；若是，则将此巡检目标作为单基塔任务；For each inspection target within the range of the machine nest, it is judged whether the difference between the total endurance time of the UAV and the time for a single inspection of the inspection target is less than the time difference between the time for other inspection targets within the range of the machine nest to be inspected once alone. Minimum value; if yes, take this inspection target as a single base tower task;

若否，则将此巡检目标作为当前巡检目标，判断机巢到当前巡检目标的时间、当前巡检目标的巡检时间、当前巡检目标到编号小于当前巡检目标的最近的次级巡检目标的巡检时间、当前巡检目标到次级巡检目标的时间以及次级巡检目标到机巢的时间的加和是否大于无人机总续航时间；若是，则将当前巡检目标作为单基塔任务；若否，则执行二基杆塔的航线任务，依次进行当前巡检目标和次级巡检目标的巡检。If not, take this inspection target as the current inspection target, and judge the time from the machine nest to the current inspection target, the inspection time of the current inspection target, and the latest time from the current inspection target to the number less than the current inspection target. Whether the sum of the inspection time of the primary inspection target, the time from the current inspection target to the secondary inspection target, and the time from the secondary inspection target to the machine nest is greater than the total endurance time of the drone; The inspection target is taken as the task of the single base tower; if not, the route task of the second base tower is executed, and the inspection of the current inspection target and the secondary inspection target is carried out in turn.
如权利要求9所述的网格化机巢的无人机巡检方法，其特征在于：所述方法包括：The unmanned aerial vehicle inspection method of gridded machine nest as claimed in claim 9, is characterized in that: described method comprises:

进行下一级节点的综合巡检时间判断，当综合巡检时间大于无人机总续航时间时，只执行当前巡检任务，否则，继续进行下一级节点的综合巡检时间判断。Carry out the comprehensive inspection time judgment of the next-level node. When the comprehensive inspection time is greater than the total battery life of the UAV, only the current inspection task is executed, otherwise, continue to judge the comprehensive inspection time of the next-level node.
一种无人机任务执行环境判断方法，其特征在于：A method for judging the execution environment of an unmanned aerial vehicle mission, characterized in that:

所述方法应用于权利要求1-8任一项所述的网格化机巢的无人机巡检***，包括：The method is applied to the unmanned aerial vehicle inspection system of the gridded machine nest described in any one of claims 1-8, including:

获取机巢内环境信息和感知范围内的机巢外环境信息；Obtain the environmental information inside the nest and the environmental information outside the nest within the sensing range;

根据无人机位置选定目标机巢，根据飞行指令确定对应的飞行影响因素，并在选定的目标机巢的外环境信息中调取对应的飞行环境数据，若飞行环境数据不满足飞行条件，则控制无人机返航；Select the target nest according to the position of the drone, determine the corresponding flight influencing factors according to the flight instructions, and retrieve the corresponding flight environment data from the external environment information of the selected target nest, if the flight environment data does not meet the flight conditions , then control the UAV to return;

根据返航指令确定对应的降落影响因素，根据所述降落影响因素在目标机巢的机巢外环境信息和机巢内环境信息中调取对应的降落环境数据和返仓环境数据；根据降落环境数据控制无人机的降落方式，根据返仓环境数据调整目标机巢内环境，直至无人机返回目标机巢内；Determine the corresponding landing influence factors according to the return order, and retrieve the corresponding landing environment data and return environment data from the machine nest external environment information and machine nest internal environment information of the target machine nest according to the landing influence factors; according to the landing environment data Control the landing mode of the drone, and adjust the environment in the target machine nest according to the return environment data until the drone returns to the target machine nest;

其中，根据无人机位置选定目标机巢，具体包括：根据无人机位置确定无人机所处的机巢感知范围，将落入感知范围的机巢为目标机巢；若两个或以上的机巢均落入感知范围，则确定距离无人机最近的机巢为目标机巢。Among them, the target nest is selected according to the position of the drone, which specifically includes: determining the sensing range of the nest where the drone is located according to the position of the drone, and taking the nest that falls within the sensing range as the target nest; if two or If all the above nests fall within the sensing range, the nest closest to the drone is determined to be the target nest.
如权利要求11所述的无人机任务执行环境判断方法，其特征在于：The method for judging the environment of unmanned aerial vehicle mission execution as claimed in claim 11, characterized in that:

机巢内环境信息包括：机巢内温度、机巢内湿度和机巢内烟雾浓度；Environmental information in the machine nest includes: temperature in the machine nest, humidity in the machine nest and smoke concentration in the machine nest;

机巢外环境信息包括：风速、风向、机巢外温度、机巢外湿度、雨量、气压、光照强度和能见度。The environmental information outside the nest includes: wind speed, wind direction, temperature outside the nest, humidity outside the nest, rainfall, air pressure, light intensity and visibility.
如权利要求12所述的无人机任务执行环境判断方法，其特征在于：The method for judging the environment of unmanned aerial vehicle mission execution as claimed in claim 12, characterized in that:

在根据飞行指令确定对应的飞行影响因素的过程中，所述飞行指令包含无人机巡检、机巢开关动作和无人机飞行任务；In the process of determining the corresponding flight influencing factors according to the flight instructions, the flight instructions include UAV inspections, machine nest switch actions and UAV flight tasks;

无人机巡检对应的飞行影响因素包括：风速、风向、机巢外温度、雨量、气压、光照强度和能见度；The flight-influencing factors corresponding to drone inspections include: wind speed, wind direction, temperature outside the machine nest, rainfall, air pressure, light intensity and visibility;

机巢开关动作对应的飞行影响因素包括：雨量和机巢内烟雾浓度；The flight-influencing factors corresponding to the engine nest switch action include: rainfall and smoke concentration in the engine nest;

无人机飞行任务对应的飞行影响因素包括：风速、风向、气压和能见度。The flight-influencing factors corresponding to UAV flight missions include: wind speed, wind direction, air pressure and visibility.
如权利要求12所述的无人机任务执行环境判断方法，其特征在于：The method for judging the environment of unmanned aerial vehicle mission execution as claimed in claim 12, characterized in that:

在根据返航指令确定对应的降落影响因素的过程中，受所述返航指令影响的指令包括：无人机存储、无人机充电、机巢自检、无人机精降和无人机备降；In the process of determining the corresponding landing influencing factors according to the return instruction, the instructions affected by the return instruction include: UAV storage, UAV charging, machine nest self-inspection, UAV precise landing and UAV alternate landing ;

无人机存储、无人机充电和机巢自检对应的降落影响因素包括：机巢内温度、机巢内湿度和机巢内烟雾浓度；The factors affecting the landing corresponding to UAV storage, UAV charging and machine nest self-inspection include: temperature in the machine nest, humidity in the machine nest, and smoke concentration in the machine nest;

无人机精降对应的降落影响因素包括：风速、风向、光照强度和能见度；The landing influencing factors corresponding to UAV precision landing include: wind speed, wind direction, light intensity and visibility;

无人机备降对应的降落影响因素包括：风速和风向。The landing influence factors corresponding to the UAV alternate landing include: wind speed and wind direction.
如权利要求11所述的无人机任务执行环境判断方法，其特征在于：所述方法还包括：The method for judging the environment of unmanned aerial vehicle mission execution as claimed in claim 11, characterized in that: the method also includes:

若当前飞行指令为无人机巡检指令，且当前飞行环境数据满足飞行条件，则进行机巢自检；若机巢自检通过，则控制无人机起飞，以执行巡检任务；在无人机巡检任务执行过程中，持续检测飞行环境数据是否满足飞行条件。If the current flight instruction is a UAV inspection instruction, and the current flight environment data meets the flight conditions, the nest self-inspection will be performed; if the nest self-inspection passes, the UAV will be controlled to take off to perform the inspection task; During the execution of the human-machine inspection mission, it continuously checks whether the flight environment data meets the flight conditions.
如权利要求15所述的无人机任务执行环境判断方法，其特征在于：所述方法还包括：The method for judging the environment of unmanned aerial vehicle mission execution as claimed in claim 15, characterized in that: the method also includes:

判断当前降落环境数据是否满足精降条件；如果满足精降条件，则执行无人机精降，并判断机巢是否满足无人机的存储和充电；若机巢内环境异常，则调整机巢内环境；如果不满足精降条件，则控制无人机备降；若无法进行无人机备降，则控制无人机强行降落。Judging whether the current landing environment data meets the precise landing conditions; if the precise landing conditions are met, execute the precise landing of the UAV, and judge whether the machine nest meets the storage and charging of the drone; if the environment in the machine nest is abnormal, adjust the machine nest If the precise landing conditions are not met, the UAV will be controlled for backup landing; if the UAV backup landing cannot be performed, the UAV will be controlled for a forced landing.
一种无人机精准降落控制方法，其特征在于：A precise landing control method for unmanned aerial vehicles, characterized in that:

所述方法应用于权利要求1-8任一项所述的网格化机巢的无人机巡检***，包括：The method is applied to the unmanned aerial vehicle inspection system of the gridded machine nest described in any one of claims 1-8, including:

获取无人机的定位数据；Obtain the positioning data of the drone;

根据获取的定位数据，判断无人机是否位于预设降落范围内；当无人机没有位于预设降落范围内时，控制无人机移动直至满足位置要求；According to the acquired positioning data, it is judged whether the UAV is within the preset landing range; when the UAV is not within the preset landing range, the UAV is controlled to move until the position requirements are met;

确定无人机位于预设降落范围内后，当无人机位于距离降落点第一预设距离的位置时，获取无人机下方的图像数据或者视频数据；当根据获取的图像数据或者视频数据无法识别到精降范围码时，控制无人机下降至距离降落点第三预设距离的位置，再次进行精降范围码识别，直至识别到精降范围码；After determining that the UAV is within the preset landing range, when the UAV is at the first preset distance from the landing point, acquire the image data or video data below the UAV; When the precise drop range code cannot be recognized, control the UAV to descend to a position at the third preset distance from the landing point, and perform fine drop range code recognition again until the fine drop range code is recognized;

当根据获取的图像数据或者视频数据识别到精降范围码时，控制无人机下降至距离降落点第二预设距离的位置，再次获取无人机下方的图像数据或者视频数据，当根据再次获取的图像数据或者视频数据识别到精降位置码时，控制无人机下降至距离降落点第四预设距离的位置，控制无人机降落。When the precise landing range code is identified according to the acquired image data or video data, the UAV is controlled to descend to a position at a second preset distance from the landing point, and the image data or video data under the UAV is acquired again. When the acquired image data or video data recognizes the precise landing position code, the UAV is controlled to descend to a position at a fourth preset distance from the landing point, and the UAV is controlled to land.
一种基于视觉移动跟踪的无人机巡检方法，其特征在于：An unmanned aerial vehicle inspection method based on visual movement tracking, characterized in that:

所述方法应用于权利要求8所述的网格化机巢的无人机巡检***，包括：The method is applied to the drone inspection system of the gridded nest according to claim 8, comprising:

S1：依据巡检要求，无人机匀速进入检测点前采用云台上的图像采集模块获取巡检目标的实时广角图像；S1: According to the inspection requirements, before the UAV enters the inspection point at a constant speed, the image acquisition module on the gimbal is used to obtain a real-time wide-angle image of the inspection target;

S2：判断巡检目标是否位于拍摄获取的实时图像中，若是，则进入步骤S3；否则，控制云台运动，改变姿态，直到搜寻到实时图像中巡检目标；S2: Determine whether the inspection target is located in the real-time image captured by shooting, if so, go to step S3; otherwise, control the motion of the pan-tilt, change the posture, until the inspection target in the real-time image is searched;

S3：处理模块根据实时图像中巡检目标位置，无人机拍摄位置，云台姿态的信息，采用卡尔曼滤波算法拟合出无人机拍摄位置和云台姿态位置，确定图像采集模块的焦距模式；S3: The processing module uses the Kalman filter algorithm to fit the shooting position of the drone and the attitude of the gimbal according to the position of the inspection target in the real-time image, the shooting position of the UAV, and the attitude of the gimbal, and determines the focal length of the image acquisition module model;

S4：控制无人机匀速飞行至拟合得到的拍摄位置，在飞行过程中，处理模块依据无人机匀速飞行三维方向，实时反向调整云台的姿态，以达到图像采集模块实时图像的设定区域锁定巡检目标，并调整图像采集模块的焦距模式；S4: Control the unmanned aerial vehicle to fly at a constant speed to the shooting position obtained by fitting. During the flight, the processing module reversely adjusts the attitude of the gimbal in real time according to the three-dimensional direction of the uniform flying of the unmanned aerial vehicle, so as to achieve the real-time image setting of the image acquisition module. Lock the inspection target in a fixed area, and adjust the focal length mode of the image acquisition module;

S5：无人机到达拍摄位置，确认巡检目标位置在图像采集模块实时图像的设定区域，并锁定检视点进行图像采集；S5: The UAV arrives at the shooting position, confirms that the inspection target position is in the set area of the real-time image of the image acquisition module, and locks the inspection point for image acquisition;

S6：处理模块处理采集的图片，控制无人机执行下一个检测点任务，重新执行S1，直到完成所有检测点图像采集任务。S6: The processing module processes the collected pictures, controls the UAV to perform the next detection point task, and re-executes S1 until all detection point image collection tasks are completed.
如权利要求18所述基于视觉移动跟踪的无人机巡检方法，其特征在于：The UAV inspection method based on visual movement tracking as claimed in claim 18, characterized in that:

S2中：In S2:

判断巡检目标是否位于拍摄获取的实时图像中的具体过程包括：采用Faster-RCNN算法将图片输入CNN，进行特征提取；然后判断图片中是否存在巡检目标。The specific process of judging whether the inspection target is located in the captured real-time image includes: using the Faster-RCNN algorithm to input the image into CNN for feature extraction; and then judging whether there is an inspection target in the image.
如权利要求18所述基于视觉移动跟踪的无人机巡检方法，其特征在于：The UAV inspection method based on visual movement tracking as claimed in claim 18, characterized in that:

S3具体包括：S3 specifically includes:

S3.1：根据图像中检视点目标物体的位置决定云台的转动方向，云台的转动方向为使得杆塔向图像中心偏移的方向；先将云台转动最小单位，获取当前位置处的杆塔图像，并提取其特征；S3.1: Determine the rotation direction of the gimbal according to the position of the target object at the inspection point in the image. The rotation direction of the gimbal is the direction that makes the tower offset to the center of the image; first rotate the gimbal by the smallest unit to obtain the tower at the current position image, and extract its features;

S3.2：匹配前后两张杆塔图像的特征，并计算图像中匹配点在像素点的偏移量；S3.2: Match the features of the two tower images before and after, and calculate the pixel offset of the matching point in the image;

S3.3：根据特征偏移量与云台转动量之间的线性映射关系，得到云台转动量；S3.3: According to the linear mapping relationship between the characteristic offset and the rotation amount of the gimbal, the rotation amount of the gimbal is obtained;

S3.4：按照转动量调整云台姿态。S3.4: Adjust the attitude of the gimbal according to the amount of rotation.
如权利要求18所述基于视觉移动跟踪的无人机巡检方法，其特征在于：The UAV inspection method based on visual movement tracking as claimed in claim 18, characterized in that:

S4中：In S4:

S4.1：根据无人机位置信息和加速度信息计算出当前无人机位置和即将运动三维矢量方向P；S4.1: Calculate the current position of the drone and the three-dimensional vector direction P of the upcoming movement according to the position information and acceleration information of the drone;

S4.2：调整云台图像采集模块的运行矢量与无人机的运动矢量大小相等，方向相反；S4.2: Adjust the running vector of the gimbal image acquisition module to be equal in size and opposite to the motion vector of the drone;

S4.3：计算当前时刻图像采集模块中央目标物在像素上的偏移量；如果无偏移量，则确定云台图像采集模块移动追踪巡检目标物体是相对静止状态；如果有偏移量，则进入步骤S4.4；S4.3: Calculate the offset of the central target object of the image acquisition module at the current moment on the pixel; if there is no offset, then determine that the pan/tilt image acquisition module is moving and tracking the target object is relatively static; if there is an offset , enter step S4.4;

S4.4：根据图像中央像素特征偏移量与云台转动量之间的线性映射关系，得到云台转动量，然后对云台图像采集模块的位置进行微调，以重新将云台图像采集模块中央锁定检视点目标物体。S4.4: According to the linear mapping relationship between the image central pixel feature offset and the pan-tilt rotation amount, the pan-tilt rotation amount is obtained, and then the position of the pan-tilt image acquisition module is fine-tuned to reposition the pan-tilt image acquisition module Centrally lock the viewpoint target object.