Intelligent flight control method and system for fine patrol inspection of UAV

A flight control system and flight control technology, applied in the direction of control/regulation system, attitude control, non-electric variable control, etc., can solve the problems of different shooting quality, increase the difficulty of analysis, and affect work efficiency, etc. The effect of standardization of flying shooting, avoidance of manual manipulation, and quality assurance

Active Publication Date: 2017-12-08
FOSHAN POWER SUPPLY BUREAU GUANGDONG POWER GRID
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the positioning accuracy of UAVs is low. The location and height of UAVs are all judged by human vision. It is difficult to accurately reach the designated location and height. The quality of shooting varies from person to person, and the standardization is poor. , the location and order of shooting will be quite different, which will make subsequent defect analysis more difficult
At the same time, the phenomenon of human misoperation also occurs from time to time, and it is impossible to fundamentally eliminate it, which increases the safety risk of inspections
Manually operated drone inspections cannot scientifically and reasonably arrange inspection plans based on battery power, which also greatly affects work efficiency

Method used

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  • Intelligent flight control method and system for fine patrol inspection of UAV
  • Intelligent flight control method and system for fine patrol inspection of UAV
  • Intelligent flight control method and system for fine patrol inspection of UAV

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] Such as Figure 1 to Figure 3 Shown is the first embodiment of the intelligent flight control method and system of the UAV refined inspection of the present invention, as Figure 1 to Figure 2 As shown, the control method includes the following steps:

[0044] S1. First, intelligently match the UAV, load the route path, and select the tower to be learned by the UAV;

[0045] S2. After step S1, plan and design the flight acquisition path in detail, manually control the UAV flight inspection, and the flight control program automatically records the manually controlled path parameters and shooting parameters;

[0046] S3. After step S2, replay and optimize the path parameters, adjust the path parameters, and delete redundant flight paths to optimize the flight path; replay and optimize the shooting parameters, adjust the shooting parameters, and delete redundant shots to form each The best acquisition plan for the point;

[0047] S4. After step S3, load the optimized pa...

Embodiment 2

[0058] When the iron tower is a single-circuit straight line tower for transmission lines, the transmission line is a 1000kV transmission line, and the iron tower is a wine glass-shaped iron tower, such as Figure 4 As shown, the order of the UAV's refined inspection air path is:

[0059] 1) The UAV takes off from the takeoff and landing position near the iron tower.

[0060] 2) First fly to hover position 1, and the direction of the line is the tower on the right:

[0061] a) Adjust the UAV camera lens vertically downward, and take photos of the tower foot;

[0062] b) Adjust the camera lens of the UAV to be horizontal to the tower body, and take pictures of equipment such as the nameplate of the tower line.

[0063] 3) Fly to the hovering position 2, and the forward direction of the line is the right wire:

[0064] a) Adjust the UAV camera lens horizontally to the forward direction of the line, and take pictures of equipment such as wires and anti-vibration hammers in the...

Embodiment 3

[0083] When the iron tower is a double-circuit right-angle tower of an AC transmission line, the transmission line is a 1000kV AC transmission line, and the iron tower is a dry-shaped iron tower, such as Figure 5 As shown, the order of the UAV's refined inspection air path is:

[0084] 1) The plane takes off from the take-off and landing position near the iron tower.

[0085] 2) First fly to the hovering position 1, and the direction of the route is the right tower body. The shooting sequence is as follows:

[0086] a) Adjust the camera lens of the aircraft vertically downward, and take photos of the tower foot;

[0087] b) Adjust the camera lens of the aircraft to be horizontal to the tower body, and take photos of equipment such as the line nameplate of the tower.

[0088] 3) Fly to hovering position 2, the shooting order of the wire on the right side of the line is as follows:

[0089] a) Adjust the camera lens of the aircraft horizontally to the forward direction of th...

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Abstract

The invention relates to the technical field of patrol inspection of electric power circuits and more specifically relates to an intelligent flight control method and system for fine patrol inspection of a UAV. According to the invention, first, through manual fine patrol inspection, patrol inspection path nodes can be recorded in detail and patrol inspection paths are played back and optimized. Second, pilot fight verification is performed continuous optimization is executed. Finally, a fine patrol inspection path database for each iron tower is formed. Based on the optimized patrol inspection path databases, full automatic flight patrol inspection for the iron towers can be realized. By adopting the iron tower fine patrol inspection operation mode, patrol inspection flight paths are optimized; the positioning precision is far higher than that of manual operation, flight photographing is normalized and quality is ensured. Besides, each UAV can provide patrol inspection for multiple iron towers, outside-visibility range photographing can be realized and battery consumption in a flight process can be in fine control, so that patrol inspection efficiency can be improved. Besides, technical difficulties for patrol inspection operation workers are reduced and the application range is enlarged.

Description

technical field [0001] The present invention relates to the technical field of power line patrol inspection, and more specifically, relates to an intelligent flight control method and system for machine-learning efficient, high-precision, and quality-guaranteed refined patrol inspection of intelligent aerial towers. Background technique [0002] Power line inspection mainly includes line external environment inspection, line channel inspection, line equipment inspection, etc. The line equipment inspection includes tower foundation, grounding device, tower body, ground wire, insulator, fittings and accessories, signs and many other equipment components. In order to ensure the good operation of these components, line operation and maintenance personnel are required The equipment conducts regular inspections, finds defects, repairs them in time, and eliminates hidden dangers. Since the line equipment is mainly distributed on the iron tower and the ground wire, it is necessary ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101Y02T10/40
Inventor 何通张虎张俊刘宝强郭圣雍杰曾懿辉麦俊佳邵校嘉吴利强
Owner FOSHAN POWER SUPPLY BUREAU GUANGDONG POWER GRID
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