Small group unmanned aerial vehicle high-voltage line fault emergency inspection fault system and method

Abstract

The invention provides a small group unmanned aerial vehicle high-voltage line fault emergency inspection fault system and method. The system mainly comprises a small group unmanned aerial vehicle module, a mobile control center module and a maintenance personnel module. And the small group unmanned aerial vehicle module performs automatic fault identification and fault related parameter detection for the cooperative combination of the three unmanned aerial vehicles, and performs data transmission among the three unmanned aerial vehicles in real time so as to improve the efficiency. And the mobile control center module is used for receiving the data sent by the small group unmanned aerial vehicles, processing the data to obtain some accurate data, and controlling the unmanned aerial vehicles according to the accurate data. And the maintenance personnel module is used for receiving accurate data from the mobile control center by the maintenance personnel, and performing maintenance under the assistance of small group unmanned aerial vehicles when the maintenance personnel arrive at a fault point site. Therefore, a safer and more efficient inspection and maintenance method is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection, and in particular to a system and method for emergency inspection of high-voltage line faults by a small group of unmanned aerial vehicles. Background Art

[0002] With the rapid development of economy, the demand for electricity is gradually increasing, and inevitably the faults on high-voltage lines are also increasing. The traditional method for handling faults is that the power company center determines the range of a fault point, and then sends maintenance personnel to search for the fault point within this range. This method is not only inefficient, but also very dangerous for maintenance personnel when searching for the fault point. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems in the above background and to propose a small group of drone high-voltage line emergency inspection fault system and method for quickly finding the fault point, confirming the fault type, exploring various data of the fault point and assisting maintenance personnel in repairs.

[0004] Small group drone high voltage line fault emergency inspection system, including small group drones, mobile control center and rescue personnel; Small groups of drones are responsible for inspections and fault identification; The mobile control center is responsible for receiving and processing data and directing rescue personnel to carry out repairs.

[0005] In the preferred solution, the interior of the drone includes a motion system, a camera, a video analysis system, an infrared camera, a speed sensor, an ultrasonic sensor, a meteorological sensor, an infrared sensor, a Beidou positioning system receiver, an RTK receiver, a drone data link transceiver, a data link transceiver between drones, a storage room and a drone controller.

[0006] The small group drone high voltage line fault emergency inspection method includes the following steps: S1. Wireless communication technology is used between several drones to transmit information, so as to discover the fault point and mutually confirm and modify the type and location of the detected fault.

[0007] S2. When a drone in the small group finds a fault point, it will transmit data related to the fault point to the mobile control center. When the mobile control center receives the information, it will process the information and transmit commands to the drone based on the processed data.

[0008] S3. The mobile control center will obtain data related to the fault point based on the data received from the small group drones. The mobile control center sends the data related to the fault point to the rescue personnel. After receiving the data, the rescue personnel go to the fault point. After arriving at the fault point, they repair the fault with the assistance of the small group drones.

[0009] In the preferred solution, the specific implementation process in step S1 includes: improving the quality of communication between several drones by using wireless communication FHSS frequency hopping spread spectrum technology; When a drone finds a fault point, it will transmit the fault location to other drones. When other drones arrive, they will identify the type and location of the fault, and then compare the data with the drone that found the fault point to confirm or modify the fault type and location.

[0010] In a preferred solution, in step S2, the data transmitted by the faulty drone to the mobile control center includes: image video data, fault location data, fault distance data, fault point climate data, fault point temperature data and fault type; When other drones arrive at the fault location, they also transmit the same data to the mobile control center, which then performs comparative processing.

[0011] In a preferred solution, in step S3, the mobile control center obtains the fault point related data after processing the data, including: safe path, fault point climate data, fault point temperature data, fault point location data and fault type.

[0012] In a preferred solution, in step S3, the drone that first discovers the fault point first measures the data related to the fault point, and other drones measure the data related to the fault point again after arriving.

[0013] In a preferred solution, in step S3, the UAV that first discovers the fault point transmits the fault measurement data related to the fault point to the mobile control center, and other UAVs transmit the data to the mobile control center after completing the data measurement.

[0014] In the preferred solution, the drone collects video through a camera and uses a video analysis system to automatically identify the fault and the type of fault; The video analysis system specifically refers to YOLOV8; The fault image dataset is divided into a training set and a test set, and YOLOV8 is trained, tested, and parameters are modified to achieve automatic fault identification.

[0015] The beneficial effects of the present invention are as follows: the UAV can quickly fly to the fault point and quickly identify the problem, saving time and human resources; the UAV can fly near the high-voltage line, reducing the risks that may be caused by human intervention; the UAV is equipped with sensors to collect data in a timely manner, and the mobile control center can process this data in real time, providing accurate information to rescue personnel and promoting rapid repairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall system of the present invention.

[0017] Figure 2 Schematic diagram of the internal structure of the UAV in the present invention.

[0018] Figure 3 Schematic diagram of information transmission between three UAVs in the present invention.

[0019] Figure 4 Schematic diagram of information transmission between the mobile control center and the drones in the present invention.

[0020] Figure 5 This is a schematic diagram of maintenance personnel receiving information in the present invention.

[0021] Figure 6 It is a schematic diagram of the overall implementation process of the present invention.

[0022] In the figure: 1A, 1B, 1C-UAV A, B, C; 2A, 2B, 2C-Mobile signal base stations A, B, C; 3-Fault point (the present invention Figure 1 Insulator is used as an example); 4-fault area; 5A-data link between drones AB; 5B-data link between drones BC; 5C-data link between drones CA; 6A-data link between mobile control center and drone A; 6B-data link between mobile control center and drone B; 6C-data link between mobile control center and drone C; 7A-data link between mobile signal base station A and drone A; 7B-data link between mobile signal base station B and drone B; 7C-data link between mobile signal base station B and drone B; 8A, 8B, 8C-RTK (Real-Time Kinematic) receivers A, B, C; 9A, 9B, 9C-drone data link transceivers A, B, C; 10A, 10B, 10C-drone data link transceivers A, B, C; 11A, 11B, 11C-cameras A, B, C. DETAILED DESCRIPTION

[0023] The following is a detailed description of the system working process of the small group drone high-voltage line emergency inspection fault system of the present invention with reference to the schematic diagram.

[0024] like Figure 1 In the scheme shown, drones A, B, and C are deployed in the fault area to inspect the fault points in the area, and each drone is exactly the same. Take drone A as an example, which carries a camera 11A to identify the fault point. The main function of the drone's BDS receiver (Beidou Satellite Navigation System Receiver) is to receive the positioning signal sent by the Beidou satellite, decode, process and calculate it, so as to determine the receiver's position information on the earth. The receiver calculates the drone's own position by establishing a connection with multiple satellites and receiving the GPS signal data sent by them. The carried RTK receiver 8A receives the differential signal information sent by the mobile control base station 2A through the data link 7A between the mobile control base station A and the drone A, and uses RTK technology to accurately correct the drone's Beidou positioning result. Drone A uses the drone data link transceiver 9A and the command center data link transceiver in the mobile control center, and the two realize the transmission of information between the two parties through the data link 6A between the mobile control center and drone A, so that the drone transmits the detected information to the mobile control center and the mobile control center transmits the control command to the drone. Drones A, B, and C use data link transceivers A, B, and C between drones, and use data links between drones (5A, 5B, and 5C) to exchange information such as the location and type of the fault point.

[0025] Wireless communication technology is used between the command center data link transceiver in the mobile control center and each drone and between drones. The present invention uses FHSS frequency hopping spread spectrum technology. FHSS technology transmits data by quickly switching between different frequency bands, thereby improving the anti-interference performance of the system. The wireless communication technology here can select the most suitable technology according to the actual situation. The BDS receiver of the mobile control center determines the position information of the receiver on the earth. After the BDS system command center module receives the position information data of the BDS receiver, it can use indirect remote positioning technology to accurately correct the Beidou positioning result of the drone. As mentioned above, the BDS system command center module transmits the position information to the command center controller and then transmits the information to the command center data link transceiver, and transmits the position information to each drone data link transceiver. The drone calculates the time when its own BDS receiver receives the Beidou positioning signal and the time when the drone data link transceiver receives the position information transmitted by the command center data link transceiver, and the delay between the two times to accurately correct the Beidou positioning result of the drone. The mobile command center has a computer workstation and a drone remote control workstation, which cooperate with each other to control the drone.

[0026] like Figure 4The figure shows a schematic diagram of the internal structure of the drone in the present invention. The present invention relates to three drones and the internal structures of the three drones are exactly the same. The drone has a drone controller for controlling the various modules of the drone. The drone includes a motion system for moving the drone, and the motion system includes an engine, a duct system, a propeller, a multi-rotor arm, etc. The motion system controls the motion by changing the speed, pitch and direction of each propeller, thereby changing the thrust and the flight direction. The drone collects live video data through a camera and then inputs the data into the YOLOV8 video analysis system to identify the fault points (broken insulators, etc.) in the pictures and videos. Because YOLOV8 is used, the identified faults can be either single faults or multiple faults. It only needs to change the relevant parameters of YOLOV8 and provide data sets for training and testing to realize the automatic identification of the fault points. If there are multiple types of faults, the automatic identification of the fault types can also be realized.

[0027] The infrared camera and infrared sensor of the drone are coordinated to detect the temperature of the fault point, the speed sensor is used to detect the speed of the drone itself, the ultrasonic sensor is used to detect the distance between the fault point and the drone, the meteorological sensor is used to detect the humidity and weather conditions around the fault point, and the storage room is used to store some maintenance tools and related parts to assist maintenance personnel. The BDS receiver of the drone is used to receive the positioning signal sent by the Beidou satellite, and decode, process and calculate it to determine the position of the drone on the earth. The RTK receiver is used to receive the differential signal sent by the mobile signal base station, and then use RTK technology to accurately correct the Beidou positioning result of the drone to further improve the accuracy. The drone data link transceiver uses wireless communication FHSS frequency hopping spread spectrum technology to realize the information transmission between the drone and the mobile control center, and the data link transceiver between drones uses wireless communication FHSS frequency hopping spread spectrum technology to realize the information transmission between drones.

[0028] like Figure 4 The figure shows a schematic diagram of information transmission between three drones in the present invention. In this figure, drone A first finds the fault point, which will be used as the basis for subsequent explanations. When drone A finds the fault point, it will send the location of drone A and the detected fault location and type to drones B and C. After receiving the information, drones B and C send the location of drone B and drone C to drone A. On the way to the location of drone A, drone B sends the location of drone B to drone C, and drone C sends the location of drone C to drone B. After arriving at the location of drone A, drones B and C confirm or modify the fault location and type.

[0029] like Figure 4The figure shows a schematic diagram of information transmission between the mobile control center and the drones in the present invention. In the present invention, a lot of information needs to be transmitted between drones A, B, C and the mobile control center. First, the mobile control center sends the reference position of the fault to each drone. The drone goes to the reference position and then searches in the fault area. In this process, the drone will transmit the drone position, drone status and drone driving path to the mobile control center, and the video image data will be transmitted to the mobile control center throughout the process. When a drone detects a fault point during inspection in the fault area, drone A that finds the fault point will send the fault location data, fault distance data, fault point climate data, fault point temperature data and fault type to the mobile control center. When drones B and C confirm or modify the fault location and type and send the same data as drone A to the mobile control center, the mobile control center will send the relevant data to the maintenance personnel and assist the maintenance personnel by giving the drone a command to release the items in the storage room.

[0030] like Figure 5 The figure shows a schematic diagram of maintenance personnel receiving information in the present invention. The mobile control center receives data sent by three drones and then processes them, and sends the processed data: safe path, accurate climate data of the fault point, accurate temperature data of the fault point, accurate location data of the fault point and accurate fault type to the maintenance personnel. After receiving the data, the maintenance personnel go to the fault point and perform maintenance with the assistance of the drone. like Figure 6 The figure shows a schematic diagram of the overall implementation process of the present invention. The steps are as follows: S1: The mobile control center preloads a reference position into the BDS module of each drone to determine the location of the fault.

[0031] S2: The mobile control center coordinates the driving path of each drone and uploads the driving path to each drone.

[0032] S3: The drone detects the presence of a fault and determines the location and type of the fault.

[0033] S4: Wireless communication between the three drones is used to confirm or modify the fault location and type.

[0034] S5: The drone measures temperature data, climate data, distance data, etc.

[0035] S6: The drone transmits various fault measurement data and location data to the mobile control center.

[0036] S7: The mobile control center confirms the data and location of the fault and confirms a safe path.

[0037] S8: The mobile control center sends the safety path, temperature data, climate data, location data, and fault type to the maintenance personnel.

[0038] S9: When maintenance personnel arrive at the fault location, the drone assists the maintenance personnel under the command of the command center (using the storage room to transport items needed by the maintenance personnel, etc.).

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A small group drone high voltage line fault emergency inspection system, characterized by: including small groups of drones, mobile control centers and rescue personnel; Small groups of drones are responsible for inspections and fault identification; The mobile control center is responsible for receiving and processing data and directing rescue personnel to carry out repairs.

2. According to claim 1, the small group drone high voltage line fault emergency inspection system is characterized by: The interior of the drone includes a motion system, a camera, a video analysis system, an infrared camera, a speed sensor, an ultrasonic sensor, a meteorological sensor, an infrared sensor, a Beidou positioning system receiver, an RTK receiver, a drone data link transceiver, a data link transceiver between drones, a storage room and a drone controller.

3. A method for emergency inspection of high voltage line faults by a small group of drones, characterized in that: The following steps are involved: S1. Wireless communication technology is used between several drones to transmit information, so as to discover the fault point and mutually confirm and modify the type and location of the detected fault. S2. When a drone in the small group finds a fault point, it will transmit data related to the fault point to the mobile control center. When the mobile control center receives the information, it will process the information and transmit commands to the drone based on the processed data. S3. The mobile control center will obtain data related to the fault point based on the data received from the small group drones. The mobile control center sends the data related to the fault point to the rescue personnel. After receiving the data, the rescue personnel go to the fault point. After arriving at the fault point, they repair the fault with the assistance of the small group drones.

4. According to claim 2, the method for emergency inspection of high-voltage line faults by small groups of unmanned aerial vehicles is characterized by: The specific implementation process in step S1 includes: improving the communication quality between several drones by using wireless communication FHSS frequency hopping spread spectrum technology; When a drone finds a fault point, it will transmit the fault location to other drones. When other drones arrive, they will identify the type and location of the fault, and then compare the data with the drone that found the fault point to confirm or modify the fault type and location.

5. According to claim 2, the method for emergency inspection of high-voltage line faults by small groups of unmanned aerial vehicles is characterized by: Step S2 In the process, the data transmitted by the faulty drone to the mobile control center include: image video data, fault location data, distance data from the fault, climate data at the fault point, temperature data at the fault point, and fault type; When other drones arrive at the fault location, they also transmit the same data to the mobile control center, which then performs comparative processing.

6. According to claim 2, the method for emergency inspection of high-voltage line faults by small groups of unmanned aerial vehicles is characterized by: In step S3, the mobile control center obtains the fault point related data after processing the data, including: safe path, fault point climate data, fault point temperature data, fault point location data and fault type.

7. According to claim 2, the small group drone high voltage line fault emergency inspection system is characterized by: In step S3, the drone that first discovers the fault point measures the data related to the fault point first, and other drones measure the data related to the fault point again after arriving.

8. According to claim 1, the small group drone high voltage line fault emergency inspection system is characterized by: In step S3, the UAV that first discovers the fault point transmits the fault measurement data related to the fault point to the mobile control center, and other UAVs transmit the data to the mobile control center after completing the measurement.

9. According to claim 1 or 3, the small group UAV high voltage line fault emergency inspection system is characterized by: The drone collects videos through cameras and uses video analysis systems to automatically identify faults and fault types; The video analysis system specifically refers to YOLOV8; The fault image dataset is divided into a training set and a test set, and YOLOV8 is trained, tested, and parameters are modified to achieve automatic fault identification.

Images