A UAV recovery system and method for substation

Abstract

The present invention discloses a UAV recovery system and method for a substation, comprising: a transfer vehicle and a plurality of carriers, wherein the plurality of carriers are arranged in sequence and evenly spaced on a preset route, and each of the carriers is provided with an information code containing azimuth information, wherein the azimuth information includes: the position and angle of the carrier, and the transfer vehicle is provided with a carrier phase differential technology RTK satellite navigation module, a code scanning module, an ultra-wideband UWB positioning module, a vehicle control module and at least one helipad, wherein the carrier phase differential technology RTK satellite navigation module, the code scanning module and the ultra-wideband UWB positioning module are all electrically connected to the vehicle control module. The present invention utilizes a combination of RTK satellite navigation and information code positioning technology to enable the transfer vehicle to travel to the target area, and then utilizes UWB positioning technology to accurately locate the UAV, and adjusts the position of the transfer vehicle according to the positioning result, so that the alignment process is simpler and more efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of drone recovery, and in particular to a drone recovery system and method for a substation. Background Art

[0002] Drone operations have been applied in many fields, such as agriculture, electric power, and water power. For example, drones are used for fertilization and sowing, and for power and water maintenance. Drones to be operated are usually transported from the storage area to the operation area by special equipment such as transfer vehicles. One reason is that the distance may be long, and the other is to save the energy consumption of the drone as much as possible so that the drone can operate for a longer time. The recovery of the drone refers to the return of the drone to the corresponding helipad of the transfer vehicle after the operation is completed. In the existing technology, the recovery of the drone is to keep the transfer vehicle stationary, and the remote control drone is aligned with the helipad. The gyroscope is used for positioning during the alignment process. However, the gyroscope has cumulative errors, so it is necessary to align the drone multiple times to dock the drone at the corresponding helipad, and the recovery efficiency is low. Summary of the invention

[0003] The embodiments of the present invention provide a drone recovery system and method for a substation to solve the problem of low recovery efficiency caused by the drone recovery method in the prior art in which a transfer vehicle is stationary while a remotely controlled drone is aligned with a helipad on the transfer vehicle.

[0004] In a first aspect, a UAV recovery system for a substation is provided, comprising: a transfer vehicle and a plurality of carriers, wherein the plurality of carriers are arranged in sequence and evenly spaced on a preset route, and an information code containing azimuth information is arranged on each of the carriers, wherein the azimuth information comprises: the position and angle of the carrier, and the transfer vehicle is provided with a carrier phase differential technology RTK satellite navigation module, a code scanning module, an ultra-wideband UWB positioning module, a vehicle control module and at least one helipad, and the carrier phase differential technology RTK satellite navigation module, the code scanning module and the ultra-wideband UWB positioning module are all electrically connected to the vehicle control module;

[0005] The carrier phase differential technology RTK satellite navigation module is used to receive navigation information from a satellite positioning system and send the navigation information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to travel to the target area along the preset route according to the navigation information;

[0006] The code scanning module is used to scan the information code on the current carrier during driving to obtain the current position information of the carrier, and send the current position information of the carrier to the vehicle control module, so that the vehicle control module determines whether the transfer vehicle deviates from the preset route according to the current position information of the carrier and the current navigation information sent by the carrier phase difference technology RTK satellite navigation module. When deviating from the preset route, the vehicle control module corrects the driving direction of the transfer vehicle so that the transfer vehicle travels according to the preset route;

[0007] The ultra-wideband UWB positioning module is used to receive the pulse signal sent by the ultra-wideband UWB positioning tag of the drone when the transfer vehicle travels to the target area, locate the drone according to the pulse signal to obtain the drone positioning information, and send the drone positioning information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to travel to the target location according to the drone positioning information.

[0008] In a second aspect, a method for recovering a drone used in a substation is provided. The method adopts the drone recovery system described in the embodiment of the first aspect, and the method comprises:

[0009] The carrier phase differential technology RTK satellite navigation module receives navigation information from a satellite positioning system and sends the navigation information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to travel to the target area along the preset route according to the navigation information;

[0010] During driving, the code scanning module scans the information code on the current carrier to obtain the current position information of the carrier, and sends the current position information of the carrier to the vehicle control module, so that the vehicle control module determines whether the transfer vehicle deviates from the preset route according to the current position information of the carrier and the current navigation information sent by the carrier phase difference technology RTK satellite navigation module. When deviating from the preset route, the vehicle control module corrects the driving direction of the transfer vehicle so that the transfer vehicle travels according to the preset route;

[0011] When the transfer vehicle drives to the target area, the ultra-wideband UWB positioning module receives the pulse signal sent by the ultra-wideband UWB positioning tag of the drone, locates the drone according to the pulse signal to obtain the drone positioning information, and sends the drone positioning information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to drive to the target position according to the drone positioning information, so that the drone can land on the apron.

[0012] In this way, the embodiment of the present invention utilizes a combination of RTK satellite navigation and information code positioning technology to navigate the transfer vehicle so that it drives to the target area, and then utilizes UWB positioning technology to accurately locate the drone, and adjusts the position of the transfer vehicle according to the positioning result so that the transfer vehicle can be accurately parked at the location of the drone. By moving the transfer vehicle while the drone is stationary, the alignment between the two is achieved, and the alignment process is simpler and more efficient, which is suitable for use in the field of unmanned transfer vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0014] Figure 1 Schematic diagram of the carrier and information code of the drone recovery system of the embodiment of the present invention;

[0015] Figure 2 is a schematic diagram of a module of a drone recovery system according to an embodiment of the present invention;

[0016] Figure 3 2 is a schematic diagram of the structure of a UAV centering device according to an embodiment of the present invention;

[0017] Figure 4 is a schematic diagram of the centering device for the unmanned aerial vehicle according to an embodiment of the present invention after centering;

[0018] Figure 5 is a schematic diagram of a drone centering device after the drone has landed according to an embodiment of the present invention;

[0019] Figure 6 is a flow chart of a drone recovery method according to a preferred embodiment of the present invention;

[0020] Figure 7 It is a flow chart of a drone recovery method according to another preferred embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The embodiment of the present invention discloses a drone recovery system for a substation. The drone recovery system of the embodiment of the present invention comprises: a transfer vehicle and a plurality of carriers. It should be understood that the transfer vehicle is an automatic driving vehicle.

[0023] like Figure 1 As shown, a plurality of carriers 101 are arranged in sequence and evenly spaced on a preset route. The target area for landing of the drone used for the substation is generally fixed, so the preset route is also fixed, extending from the starting point to the target area. An information code containing orientation information is set on each carrier 101. Preferably, the information code can be a QR code, which is easy to implement and low in cost. Specifically, the orientation information includes: the position and angle of the carrier.

[0024] The position and angle in the information code can be expressed in different ways. For example, the position can be expressed by the number of the carrier 101. In theory, when the carrier 101 is arranged, the distance between two adjacent carriers 101 can be recorded, and then the current position can be determined after scanning the information code on the carrier 101. In order to reduce the difficulty of the algorithm, it is preferred that the distance between adjacent carriers 101 is equal, that is, all carriers 101 are arranged at equal intervals, so that only the position of the first carrier 101 and the distance between adjacent carriers 101 need to be known to determine the position of each carrier 101. For example, the position can also be latitude and longitude. For example, the angle can be a deflection angle relative to the previous carrier 101 with reference to the adjacent carrier 101. For example, if the next carrier 101 is deflected 30° to the west relative to the position of the previous carrier 101, the angle of the next carrier 101 is 30° to the west.

[0025] The carrier 101 can be implemented in a variety of ways, for example, the carrier 101 can be a signboard, paper with plastic sealant, or even the ground. The carrier 101 of the embodiment of the present invention preferably selects paper with plastic sealant. In this case, the QR code can be sprayed on the paper and then plastic-sealed with plastic sealant to avoid water immersion. It is not only low-cost, but also easy to disassemble. When it is not needed, it can be directly torn off from the ground. If the QR code is sprayed directly on the ground, waterproof ink needs to be used, which is relatively costly and difficult to remove.

[0026] like Figure 2As shown, the transfer vehicle is provided with a carrier phase differential technology RTK satellite navigation module 201, a code scanning module 202, an ultra-wideband UWB positioning module 203, a vehicle control module 204 and at least one apron. The carrier phase differential technology RTK satellite navigation module 201, the code scanning module 202 and the ultra-wideband UWB positioning module 203 are all electrically connected to the vehicle control module 204, so as to realize data transmission between these modules and the vehicle control module 204. Specifically, the code scanning module 202 is arranged on the front or side of the transfer vehicle and faces the side of the carrier 101. When the information code is a two-dimensional code, the code scanning module 202 is a two-dimensional code identifier. Preferably, the number of ultra-wideband UWB positioning modules 203 is four.

[0027] The carrier phase difference technology RTK satellite navigation module 201 is used to receive navigation information from the satellite positioning system and send the navigation information to the vehicle control module 204, so that the vehicle control module 204 controls the transfer vehicle to travel along the preset route to the target area according to the navigation information. The target area refers to the area where the drone lands. The navigation information includes the current position, direction angle, and route to be traveled of the transfer vehicle.

[0028] The code scanning module 202 is used to scan the information code on the current carrier 101 during driving to obtain the orientation information of the current carrier 101, and send the orientation information of the current carrier 101 to the vehicle control module 204, so that the vehicle control module 204 determines whether the transfer vehicle deviates from the preset route based on the orientation information of the current carrier 101 and the current navigation information sent by the carrier phase difference technology RTK satellite navigation module 201. When deviating from the preset route, the vehicle control module 204 corrects the driving direction of the transfer vehicle so that the transfer vehicle travels along the preset route.

[0029] Here, to judge whether it deviates from the preset route, that is, whether the current driving direction has deviated, the current position and heading obtained by RTK positioning can be compared with the position and angle obtained by scanning the information code. If they are consistent or the deviation is not greater than the preset range, it means there is no deviation, otherwise there is a deviation.

[0030] The ultra-wideband UWB positioning module 203 is used to receive the pulse signal sent by the ultra-wideband UWB positioning tag of the drone when the transfer vehicle drives to the target area, locate the drone according to the pulse signal to obtain the drone positioning information, and send the drone positioning information to the vehicle control module 204, so that the vehicle control module 204 controls the transfer vehicle to drive to the target position according to the drone positioning information. The target position refers to the ground position corresponding to the drone hovering before landing, which is close to the target area or within the range of the target area.

[0031] When the transfer vehicle drives to the target area, the UWB positioning technology is used to locate the drone to obtain the position of the drone, which is the target position. If the transfer vehicle is not currently at the target position, the driving direction of the transfer vehicle is adjusted to make it drive to the target position, and then the drone is controlled to land on the corresponding helipad. In other words, when using UWB technology for positioning, the drone does not move, but the transfer vehicle adjusts its position to meet the needs of alignment with the drone position. This solution not only uses UWB technology for positioning, but also breaks through the conventional UWB positioning method, that is, the positioning tag and the positioning base station are respectively installed on a mobile carrier, and the relative positioning between the drone and the transfer vehicle is performed when the drone lands.

[0032] Through the above-mentioned structural design, RTK satellite navigation is used as the main navigation means to guide the transfer vehicle, and then the azimuth information in the information code is used for auxiliary correction. There is no cumulative error, which can effectively ensure the accuracy of the actual driving path of the transfer vehicle, and then accurately stop at the target area, and then use UWB positioning technology to locate the drone, and then adjust the position of the transfer vehicle according to the positioning result, so that the position of the transfer vehicle and the drone are aligned, and then the drone is controlled to land for recovery. The method of aligning the drone with the movement of the transfer vehicle is compared with the method of accurately aligning the transfer vehicle with the drone by remote control, and the alignment process is simpler and the recovery efficiency is higher.

[0033] Preferably, the carriers 101 may be arranged every 5 meters, 10 meters, etc. In an environment with a strong RTK satellite signal, the distance between adjacent carriers 101 may be appropriately larger; whereas in an environment with a weak RTK satellite signal, the distance between adjacent carriers 101 needs to be shortened.

[0034] Specifically, the vehicle control module 204 is also used to control the transfer vehicle to return to the area where the previous carrier 101 is located along the original route and issue an alarm message if the code scanning module 202 does not scan the information code after the transfer vehicle travels to the area of ​​the current carrier 101.

[0035] Through the above structural design, if the vehicle drives to the area where the current carrier 101 is located but the information code is not recognized, it means that the transfer vehicle may have deviated too far, resulting in it exceeding the scanning range of the code scanning module 202. Therefore, at this time, the vehicle returns to the previous carrier 101 by the original route to avoid further deviation, and prompts the staff to investigate the cause of the deviation through an alarm. Even in a strong electromagnetic interference environment such as a substation with a complex electromagnetic environment, which increases the RTK navigation error, the transfer vehicle can return to a safe position through information code navigation, which greatly enhances the reliability and safety of the transfer vehicle.

[0036] It should be understood that the area where the carrier 101 is located does not refer to a specific point, but an area range. Here, there are many ways to determine whether to drive to the area where the carrier 101 is located. For example, the code scanning module 202 can always work, and the information code can be recognized when entering the area where the carrier 101 is located, and the information code cannot be recognized when it is not in the area.

[0037] In addition, in view of the defects of the above method, such as wasting power by working all the time, and if the direction is too far away to be identified, it cannot be found in time. Therefore, in a preferred embodiment of the present invention, it is also possible to determine whether the vehicle has entered the area where the carrier 101 is located by the driving speed and time. Generally, the vehicle is driven at a constant speed, and the driving distance can be determined by the product of the speed and time. The distance between two adjacent carriers 101 is known, so by recording the driving time, it is possible to determine whether the vehicle has currently driven to the area where the carrier 101 is located, as follows:

[0038] The vehicle control module 204 is also used to determine the travel distance of the transfer vehicle after leaving the previous carrier 101 through the travel speed of the transfer vehicle and the travel time after the transfer vehicle leaves the area where the previous carrier 101 is located, and compare the travel distance with the distance between two adjacent carriers 101. When the travel distance is greater than the distance between two adjacent carriers 101, it is considered that the transfer vehicle has traveled to the area of ​​the current carrier 101.

[0039] In addition, in a preferred embodiment, a direction indicator line is provided on each carrier 101. The direction indicator line is usually provided with an indicator arrow. In addition, the direction indicator line on the last carrier 101 in the preset route has no arrow, or is a circular icon, etc., or other implementation methods to distinguish it from other direction indicator lines.

[0040] The transfer vehicle is also provided with a laser module 205 and a direction indicator line recognition module 206 which are electrically connected to the vehicle control module 204. The laser module 205 is used to emit a line laser in front of the transfer vehicle, and the direction indicator line recognition module 206 is used to recognize the direction indicator line on the carrier 101 and send the recognition result to the vehicle control module 204, so that the vehicle control module 204 can judge whether the transfer vehicle deviates from the route specified by the driving information according to the angle between the line laser and the direction indicator line on the carrier 101. When deviating from the route, the vehicle control module 204 corrects the driving direction of the transfer vehicle so that the transfer vehicle travels according to the preset route. Specifically, the line laser emitted by the laser module 205 is a red line laser for easy identification. The angle between the red line laser and the direction indicator line is the angle offset error of the transfer vehicle. This method of judging whether the route is deviated is simpler.

[0041] The direction indicator line recognition module 206 may be different depending on the implementation method or material of the direction indicator line. For example, if the direction indicator line is just a painted line, the direction indicator line recognition module 206 is an image recognition device installed on the transfer vehicle to collect and recognize images. For another example, if the direction indicator line uses a magnetic stripe, the direction indicator line recognition module 206 is a magnetic stripe reader installed on the transfer vehicle to read information.

[0042] In addition, by setting a direction indicator line, it has a better indication effect. The direction of travel can be more clearly determined through the direction indicator line, and it can be checked whether the current driving direction is opposite.

[0043] In theory, the RTK satellite navigation and the navigation information in the information code cooperate with each other to ensure the accuracy of the driving direction. However, in order to avoid or improve the driving direction deviation when turning, by setting the laser module 205, combined with the means of red line laser alignment, the red line laser it emits is aligned with the direction indicator line (aligned when parallel or overlapping), and when there is an offset, it is gradually aligned. The alignment process is the correction process, which can correct the current driving direction, which is a supplement to the correction through the aforementioned angle. Multiple means of correction can further reliably ensure the accuracy of the driving direction.

[0044] In addition, in a preferred embodiment, the transfer vehicle is also provided with an ultrasonic distance measuring sensor 207. The ultrasonic distance measuring sensor 207 is used to emit ultrasonic waves in front of the transfer vehicle, and obtain the distance between the transfer vehicle and the obstacle after receiving the ultrasonic waves reflected by the obstacle, and send the distance between the transfer vehicle and the obstacle to the vehicle control module 204, so that the vehicle control module 204 controls the transfer vehicle to avoid the obstacle.

[0045] Furthermore, in a preferred embodiment, a magnetic seat is provided at the center of the apron.

[0046] The process of the drone landing on the apron may not be absolutely accurate, that is, the drone may not land in the center of the apron. Therefore, the drone needs to be centered during or after landing. By setting a magnetic base in the center of the apron and using the magnetic attraction of the magnetic base to the drone, the drone can be closer to the center of the apron. On the one hand, it can reduce the accuracy of the drone's alignment with the apron, and on the other hand, it can also enhance the stability of the drone's docking.

[0047] In addition, in a preferred embodiment, the recovery system further includes at least one drone centering device disposed on the transfer vehicle, for returning the drone to the center of the apron. Each drone centering device corresponds to each apron. Figures 3 to 5As shown, the drone centering device includes: a driving mechanism 302 and a fence mechanism. Among them, the driving mechanism 302 is arranged at the edge of the apron 301. The driving mechanism 302 can be electrically connected to the aforementioned vehicle control system. The fence mechanism includes: a cable 303 and at least three telescopic pull boxes 304. The cable 303 can be made of carbon fiber wire. The carbon fiber wire has the advantages of high strength and light weight, which can ensure that the cable 303 can be used for a long time, and then ensure the reliability of the entire device. At least three telescopic pull boxes 304 are arranged at intervals around the center of the apron 301 at the edge of the apron 301. Preferably, the apron 301 is square, preferably square. Then the number of telescopic pull boxes 304 is four, which are respectively arranged at the four corners of the apron 301. The telescopic cable box 304 is a prior art, which will not be described in detail here. The elastic telescopic cable 305 in the telescopic cable box 304 can be pulled out to a desired distance by an external force, and when the external force is removed, the elastic telescopic cable 305 can be retracted into the telescopic cable box 304 under the action of the restoring force. The starting end of the elastic telescopic cable 305 of each telescopic cable box 304 is connected to a fixing piece 306. The driving mechanism 302 is connected to one end of the cable 303, and the other end of the cable 303 is sequentially passed through the fixing piece 306 corresponding to each telescopic cable box 304 and then connected to the fixing piece 306 corresponding to the first telescopic cable box 304, so that the cable 303 surrounds the center of the apron 301. It should be understood that at least three telescopic cable boxes 304 are required to be evenly spaced and arranged in a circle so that the cables 303 can be arranged in a circle. The number of telescopic cable boxes 304 can be flexibly set according to actual needs such as control accuracy.

[0048] Through the above structural design, when the drone 309 lands on the apron 301, the drive mechanism 302 is started to retract the cable 303, and the cable 303 gradually begins to tighten, and then the fence area surrounded by the cable 303 gradually shrinks, and drives the drone 309 to move closer to the middle position. The elastic retractable cable 305 of the retractable cable box 304 is stretched, and finally the drone 309 is placed in the center of the apron 301. After the return to the center is completed, the drive mechanism 302 releases the cable 303, and the elastic retractable cable 305 of the retractable cable box 304 is retracted towards the direction of the respective retractable cable box 304 under the action of its own restoring force, and the area surrounded by the cable 303 gradually expands until it is restored to the original state.

[0049] Specifically, the drive mechanism 302 can adopt a structure commonly used in the prior art. In a preferred embodiment of the present invention, the drive mechanism includes: a stepper motor and a roller. The roller is sleeved on the output shaft of the stepper motor. One end of the cable 303 is fixedly connected to the roller, and the cable 303 is wound around the roller. More preferably, the wheel surface of the roller has a groove, which can facilitate winding and prevent the cable 303 from slipping.

[0050] In this way, the stepper motor rotates forward or reversely, driving the roller to rotate forward or reversely, thereby realizing the retraction and extension of the cable 303.

[0051] Specifically, the fixing member 306 can be a winding wheel. In this way, the other end of the cable 303 is passed around the winding wheel corresponding to each telescopic pull box 304 in turn. The wheel surface of the winding wheel has a groove, which can facilitate the winding of the cable 303 and prevent the cable 303 from slipping.

[0052] Specifically, the starting end of the elastic telescopic cable 305 of each telescopic cable box 304 is connected to each fixing member 306 via a buckle 308. The buckle 308 is a common openable and closable annular structure in the prior art. The buckle 308 is fixedly connected to the fixing member 306, and the starting end of the elastic telescopic cable 305 can form an annular ring, so that the annular ring is fixedly sleeved on the buckle 308.

[0053] Preferably, the drone centering device of the embodiment of the present invention further comprises: an anti-jump wire wheel 307. The anti-jump wire wheel 307 is arranged on the apron 301 near the driving mechanism 302. The other end of the cable 303 passes through the anti-jump wire wheel 307 and then passes through the fixing piece 306 of each telescopic pull box 304 in sequence.

[0054] By providing the anti-jumping wheel 307, the cable 303 is guided, and the cable 303 can be prevented from jumping when the stepping motor rotates, thereby enhancing the reliability and convenience of the device.

[0055] Preferably, the drone centering device of the embodiment of the present invention further includes: a detector arranged at the center of the apron 301 for detecting whether the drone 309 has landed.

[0056] Specifically, the detector may be an ultrasonic sensor, a photoelectric sensor or a gravity sensor. The ultrasonic sensor detects the drone 309 by emitting ultrasonic waves, the photoelectric sensor detects the drone 309 by emitting light, and the gravity sensor detects the weight change.

[0057] By setting up a detector, it is possible to detect whether the drone 309 has landed on the helipad 301, so that the device can start the operation of returning the drone 309 to the center.

[0058] The above-mentioned drone centering device drives the fence mechanism through the driving mechanism to achieve the reduction or expansion of the fence range. When the fence mechanism reduces the fence range, it drives the drone 309 to return to the center of the apron 301, which can efficiently center the drone 309, and has a simple structure and low cost.

[0059] The embodiment of the present invention also discloses a method for recovering a UAV used in a substation. The method is implemented by using the UAV recovery system described in the above embodiment. Specifically, Figure 6As shown, the method comprises the following steps:

[0060] Step S601: The carrier phase difference technology RTK satellite navigation module receives navigation information from the satellite positioning system and sends the navigation information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to travel to the target area along the preset route according to the navigation information.

[0061] Step S602: During driving, the code scanning module scans the information code on the current carrier to obtain the orientation information of the current carrier, and sends the orientation information of the current carrier to the vehicle control module, so that the vehicle control module determines whether the transfer vehicle deviates from the preset route based on the orientation information of the current carrier and the current navigation information sent by the carrier phase difference technology RTK satellite navigation module. When deviating from the preset route, the vehicle control module corrects the driving direction of the transfer vehicle so that the transfer vehicle travels along the preset route.

[0062] Step S603: When the transfer vehicle drives to the target area, the ultra-wideband UWB positioning module receives the pulse signal sent by the ultra-wideband UWB positioning tag of the drone, locates the drone according to the pulse signal to obtain the drone positioning information, and sends the drone positioning information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to drive to the target position according to the drone positioning information, so that the drone can land on the apron.

[0063] The specific process of the above steps can be found in the aforementioned device embodiment part, which will not be repeated here.

[0064] Preferably, Figure 7 As shown, after the UAV lands on the apron, the method of the embodiment of the present invention further includes:

[0065] Step S604: centering the drone using the drone centering device.

[0066] One way is to perform the return to center operation regardless of whether the current drone is parked at the center of the apron; another way is to first detect whether the drone is at the center of the apron, if yes, then do not perform the return to center operation, if not, then perform the return to center operation. The element for detecting whether the drone is at the center of the apron can be an ultrasonic sensor, a photoelectric sensor, a gravity sensor, etc.

[0067] The specific process of the above steps can be found in the aforementioned device embodiment part, which will not be repeated here.

[0068] In summary, the embodiments of the present invention utilize a combination of RTK satellite navigation and information code positioning technology to navigate the transfer vehicle so that it drives to the target area, and then utilize UWB positioning technology to accurately locate the drone, and adjust the position of the transfer vehicle according to the positioning result so that the transfer vehicle can be accurately parked at the location of the drone. By moving the transfer vehicle while the drone is stationary, the alignment between the two is achieved, and the alignment process is simpler and more efficient, which is suitable for use in the field of unmanned transfer vehicles.

[0069] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A drone recovery system for a substation, characterized in that: include: A transfer vehicle and a plurality of carriers, wherein the plurality of carriers are arranged uniformly and sequentially on a preset route, and each of the carriers is provided with an information code containing azimuth information, wherein the azimuth information includes: the position and angle of the carrier, and the transfer vehicle is provided with a carrier phase differential technology RTK satellite navigation module, a code scanning module, an ultra-wideband UWB positioning module, a vehicle control module and at least one helipad, and the carrier phase differential technology RTK satellite navigation module, the code scanning module and the ultra-wideband UWB positioning module are all electrically connected to the vehicle control module; The carrier phase differential technology RTK satellite navigation module is used to receive navigation information from a satellite positioning system and send the navigation information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to travel to the target area along the preset route according to the navigation information; The code scanning module is used to scan the information code on the current carrier during driving to obtain the current position information of the carrier, and send the current position information of the carrier to the vehicle control module, so that the vehicle control module determines whether the transfer vehicle deviates from the preset route according to the current position information of the carrier and the current navigation information sent by the carrier phase difference technology RTK satellite navigation module. When deviating from the preset route, the vehicle control module corrects the driving direction of the transfer vehicle so that the transfer vehicle travels according to the preset route; The ultra-wideband UWB positioning module is used to receive the pulse signal sent by the ultra-wideband UWB positioning tag of the drone when the transfer vehicle drives to the target area, locate the drone according to the pulse signal to obtain the drone positioning information, and send the drone positioning information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to drive to the target location according to the drone positioning information; The vehicle control module is also used to control the transfer vehicle to return to the area where the previous carrier is located along the original route and issue an alarm message if the code scanning module fails to scan the information code after the transfer vehicle travels to the area where the current carrier is located; Each of the carriers is provided with a direction indicator line; the transfer vehicle is also provided with a laser module and a direction indicator line recognition module electrically connected to the vehicle control module, the laser module is used to emit a line laser in front of the transfer vehicle, and the direction indicator line recognition module is used to recognize the direction indicator line on the carrier and send the recognition result to the vehicle control module, so that the vehicle control module determines whether the transfer vehicle deviates from the preset route according to the angle between the line laser and the direction indicator line on the carrier. When deviating from the preset route, the vehicle control module corrects the driving direction of the transfer vehicle so that the transfer vehicle travels along the preset route.

2. The drone recovery system for a substation according to claim 1 is characterized in that: The vehicle control module is also used to determine the travel distance of the transfer vehicle after leaving the previous carrier through the travel speed of the transfer vehicle and the travel time after the transfer vehicle leaves the area where the previous carrier is located, and compare the travel distance with the distance between two adjacent carriers. When the travel distance is greater than the distance between two adjacent carriers, it is considered that the transfer vehicle has traveled to the area of ​​the current carrier.

3. The drone recovery system for a substation according to claim 1 is characterized in that: The transfer vehicle is also provided with an ultrasonic ranging sensor, which is used to emit ultrasonic waves in front of the transfer vehicle, obtain the distance between the transfer vehicle and the obstacle after receiving the ultrasonic waves reflected back by the obstacle, and send the distance between the transfer vehicle and the obstacle to the vehicle control module, so that the vehicle control module controls the transfer vehicle to avoid the obstacle.

4. The drone recovery system for a substation according to claim 1 is characterized in that: A magnetic seat is arranged at the center of the apron.

5. The drone recovery system for a substation according to claim 1, characterized in that: Also includes: At least one UAV centering device is arranged on the transfer vehicle, and each UAV centering device corresponds to each apron. Each UAV centering device comprises: a driving mechanism and a fence mechanism. The driving mechanism is arranged at the edge of the apron. The fence mechanism comprises: a cable and at least three telescopic pull boxes. At least three telescopic pull boxes are arranged at intervals around the center of the apron at the edge of the apron. The starting end of the elastic telescopic pull wire of each telescopic pull box is connected to a fixing piece. The driving mechanism is connected to one end of the cable. The other end of the cable is successively passed through the fixing piece corresponding to each telescopic pull box and then connected to the fixing piece corresponding to the first telescopic pull box, so that the cable surrounds the center of the apron.

6. The drone recovery system for substation according to claim 5, characterized in that: The drone centering device also includes: an anti-jumping wheel, which is arranged on the apron near the driving mechanism. The other end of the cable passes around the anti-jumping wheel and then passes through the fixing parts of each telescopic pull box in sequence.

7. The drone recovery system for a substation according to claim 5, characterized in that: The drone centering device also includes: a detector arranged at the center of the apron, and the detector is an ultrasonic sensor, a photoelectric sensor or a gravity sensor.

8. A method for recovering a drone used in a substation, characterized in that: The drone recovery method adopts the drone recovery system according to any one of claims 1 to 7, and the drone recovery method comprises: The carrier phase differential technology RTK satellite navigation module receives navigation information from a satellite positioning system and sends the navigation information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to travel to the target area along the preset route according to the navigation information; During driving, the code scanning module scans the information code on the current carrier to obtain the current position information of the carrier, and sends the current position information of the carrier to the vehicle control module, so that the vehicle control module determines whether the transfer vehicle deviates from the preset route according to the current position information of the carrier and the current navigation information sent by the carrier phase difference technology RTK satellite navigation module. When deviating from the preset route, the vehicle control module corrects the driving direction of the transfer vehicle so that the transfer vehicle travels according to the preset route; When the transfer vehicle drives to the target area, the ultra-wideband UWB positioning module receives the pulse signal sent by the ultra-wideband UWB positioning tag of the drone, locates the drone according to the pulse signal to obtain the drone positioning information, and sends the drone positioning information to the vehicle control module, so that the vehicle control module controls the transfer vehicle to drive to the target position according to the drone positioning information, so that the drone can land on the apron.

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