Precise recovery method and system of electric power inspection unmanned aerial vehicle

A recovery method and power inspection technology, applied in control/regulation systems, non-electric variable control, instruments, etc., can solve problems such as large influence, unstable signal, and centimeter-level errors, so as to reduce difficulty and ensure landing accuracy , the effect of increasing speed

CN109992006AActive Publication Date: 2019-07-09JIANGSU FRONTIER ELECTRIC TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-07-09

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Abstract

The invention discloses a precise recovery method of an electric power inspection unmanned aerial vehicle. The method comprises the steps of: shooting an image of a landing platform according to a setperiod, and analyzing landing marks in the shot image; determining RTK (Real-Time-Kinematic) coordinates of a landing point by combining the recognized landing marks and the current RTK coordinates of an unmanned aerial vehicle; regulating the landing and flight paths of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to be landed on the landing point by calculating the position deviation between the current RTK coordinates of the unmanned aerial vehicle and the RTK coordinates of the landing point after correction and the angle deviation between the nose direction ofthe unmanned aerial vehicle and the direction of the landing marks. According to the method, the visual navigation technology and the RTK differential positioning technology are combined to ensure therecovery precision of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to rapidly and accurately land to the landing point by employing the differential positioning technology underthe condition that the visual navigation is invalid according to the position deviation of the current RTK coordinates of the unmanned aerial vehicle and the RTK coordinates of the landing point so as to improve the recovery speed, the precision and the stability of the unmanned aerial vehicle.
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Description

technical field

[0001] The invention relates to the technical field of UAV landing control, in particular to a precise recovery method and system for power inspection UAVs. Background technique

[0002] In recent years, UAV (Unmanned Aerial Vehicle, UAV) has been a research hotspot in the field of aviation. It has the advantages of convenient use, low cost, high flight accuracy, flexible maneuverability, and easy intelligence, and has been more and more widely used. , such as military operations, geological exploration, logistics and transportation, video shooting, fire fighting and disaster relief, electric power inspection, agricultural plant protection and other fields, more and more fields have begun to use drones instead of manual operations.

[0003] UAV autonomous landing technology is an important part of UAV fully automatic flight, improving the accuracy of navigation is of great significance for UAV autonomous landing. The traditional UAV autonomous landing techno...

Examples

Embodiment 1

[0044] combine figure 1 , the present invention refers to a precise recovery method for electric power inspection drones. The precise recovery method includes:

[0045] S1: Take images of the landing platform according to the set period, and analyze and identify the landing signs in the captured images.

[0046] S2: In response to recognizing the landing mark, determine the RTK coordinates of the landing point in combination with the recognized landing mark and the current RTK coordinates of the drone.

[0047] S3: Correct the RTK coordinates of the landing point by calculating the position deviation between the current RTK coordinates of the drone and the corrected RTK coordinates of the landing point, and the direction of the nose of the drone and the direction of the landing sign Angle deviation, adjust the UAV landing flight route, and control the UAV to land on the landing point according to the adjusted UAV landing flight route.

[0048] combine Figure 4 , the landin...

Embodiment 2

[0109] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to computer programs. The aforementioned computer program can be stored in a computer-readable storage medium, and the computer program is stored on the storage medium. When the computer program is executed (such as the processor 13), the precise recovery method including the above-mentioned electric power inspection drone is executed. The steps of the embodiment, and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Embodiment 3

[0111] The present invention also provides an embodiment of a precise recovery device for power inspection drones, including a processor 13 and a memory; wherein the memory is used to store computer programs, and the processor 13 is used to execute the computer stored in the memory A program, so that the processor executes the steps of the above embodiment of the precise recovery method for the power inspection drone. Specifically, the precise recovery device of the power inspection drone can be a smart terminal such as a remote control, a smart tablet, and a smart phone, and there is no specific limitation here.