A method, apparatus, device and medium for controlling a UAV

Abstract

Embodiments of the present application disclose a kind of unmanned aerial vehicle control method, device, equipment and medium.Therein, the method comprises: control candidate unmanned aerial vehicle flies around high-voltage test transformer according to preset flight parameter;During the flight of the candidate unmanned aerial vehicle, the response data of candidate unmanned aerial vehicle and / or the response data of the high-voltage test transformer are obtained;According to the response data of the candidate unmanned aerial vehicle and / or the response data of the high-voltage test transformer, determine target unmanned aerial vehicle from the candidate unmanned aerial vehicle, to adopt the target unmanned aerial vehicle to patrol substation equipment.This technical solution can screen out the candidate unmanned aerial vehicle that has the least influence on high-voltage test transformer and unmanned aerial vehicle body as target unmanned aerial vehicle, thereby reducing the influence of unmanned aerial vehicle patrol on substation equipment and unmanned aerial vehicle body, improve the safety of unmanned aerial vehicle patrol substation equipment operation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a UAV control method, apparatus, device, and medium. Background Technology

[0002] Currently, in addition to military and civilian applications, drones can also be used for inspection work in the commercial sector. Using drones for inspection work has the advantages of being less restricted by terrain, low cost, simple operation, rapid deployment, and high inspection efficiency.

[0003] Substations are characterized by high equipment density, high equipment complexity, and susceptibility to damage. Using drones to inspect substation equipment carries a high risk. If the substation equipment loses pressure, it could have very serious consequences. Furthermore, the substation equipment may affect the flight stability of the drone, making it impossible to accurately control the drone for inspection work. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for controlling unmanned aerial vehicles (UAVs), capable of analyzing various data during UAV inspections of substations, identifying target UAVs, and reducing the impact of UAV inspections on the stable operation of equipment. According to one aspect of the invention, a UAV control method is provided, the method comprising:

[0005] Control the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters;

[0006] During the flight of the candidate UAV, acquire the response data of the candidate UAV and / or the response data of the high-voltage test transformer;

[0007] Based on the response data of the candidate UAVs and / or the response data of the high-voltage test transformer, a target UAV is determined from the candidate UAVs, and the target UAV is used to inspect the substation equipment.

[0008] According to another aspect of the present invention, a drone control device is provided, comprising:

[0009] The drone control module is used to control the candidate drone to fly around the high-voltage test transformer according to preset flight parameters;

[0010] The response data acquisition module is used to acquire the response data of the candidate UAV and / or the response data of the high-voltage test transformer during the flight of the candidate UAV.

[0011] The target drone determination module is used to determine the target drone from the candidate drones based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, so as to use the target drone to inspect the substation equipment.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the unmanned aerial vehicle control method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the unmanned aerial vehicle control method according to any embodiment of the present invention.

[0017] The technical solution of this application embodiment controls candidate drones to fly around a high-voltage test transformer according to preset flight parameters; during the flight of the candidate drones, the response data of the candidate drones and / or the response data of the high-voltage test transformer are acquired; based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, a target drone is determined from the candidate drones, and the target drone is used to inspect the substation equipment. This technical solution can screen out candidate drones with the least impact on the high-voltage test transformer and the drone itself as the target drone, reducing the impact of drone inspection on substation equipment and the drone itself, and improving the safety of drone inspection of substation equipment.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a drone control method provided according to Embodiment 1 of the present invention;

[0021] Figure 2This is a flowchart of a drone control method according to Embodiment 2 of the present invention;

[0022] Figure 3 This is a flowchart of a drone control method provided according to Embodiment 3 of the present invention;

[0023] Figure 4 This is a flowchart of a drone control method provided in Embodiment 4 of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a drone control device according to Embodiment 5 of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of an electronic device that implements a drone control method according to an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 The flowchart below provides a UAV control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where UAVs are used to inspect substation equipment. The method can be executed by a UAV control device, which can be implemented in hardware and / or software. The UAV control device can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0030] S110 controls the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters.

[0031] The candidate drones may include at least two drones, which can be of different models, and these models may differ in size, weight, and structure. Flight parameters may include information such as the drone's flight speed, flight altitude, and flight distance between the drone and the high-voltage test transformer. The high-voltage test transformer can generate high voltage, and its output voltage can be changed.

[0032] In this embodiment, because substation equipment is crucial and malfunctions could affect electrical safety, a high-voltage test transformer is used to simulate different voltages to test the candidate drone's approach to a high-voltage live conductor. In this embodiment, the high-voltage test transformer can be connected to various substation equipment to simulate the voltage under normal operating conditions, making the test results more accurate.

[0033] Specifically, in this embodiment, the candidate drone's takeoff signal can be obtained via a remote control or computer buttons, controlling the candidate drone to take off. The central processing unit (CPU) controls the candidate drone to fly around the high-voltage test transformer based on preset flight parameters. Furthermore, the preset flight parameters can be pre-stored in a hard disk. After receiving the takeoff signal, the CPU can read the preset flight parameters and control the drone to fly according to the preset parameters. The preset flight parameters in this embodiment can be determined according to actual conditions. For example, if it is necessary to check whether the candidate drone can work normally at the output end of the high-voltage test transformer, and the height of the output end of the high-voltage test transformer is 3m, then the flight height in the preset flight parameters can be 3m, and the flight distance can be gradually reduced from 5m to 0.3m.

[0034] S120, during the flight of the candidate UAV, acquire the response data of the candidate UAV and / or the response data of the high-voltage test transformer.

[0035] The response data of the UAV can include the response data of the UAV and its carried devices, including but not limited to the strength of the UAV's remote control signal, the UAV's positioning data, the data of the UAV's transmitted video signals, and the operating data of the voltage detection device carried by the UAV. The response data of the high-voltage test transformer includes but is not limited to the voltage change data of each port of the high-voltage test transformer.

[0036] During flight, the candidate drone in this embodiment may be affected by substation equipment, and the substation equipment may also be affected by the candidate drone. To obtain the cause, extent, and specific manifestation of the impact, it is necessary to acquire the response data of the candidate drone and / or the response data of the high-voltage test transformer. Specifically, after the candidate drone takes off, this embodiment acquires and stores the response data of the candidate drone and / or the high-voltage test transformer in real time. This embodiment does not limit the storage method or storage location. Furthermore, this embodiment can read the response data of the candidate drone through the candidate drone control software, acquire the response data of the high-voltage test transformer through the output voltage of the high-voltage test transformer, and acquire the operating data of the voltage detection device carried by the drone input by the operator through the input window.

[0037] S130, based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, a target drone is determined from the candidate drones, so as to use the target drone to inspect the substation equipment.

[0038] The target drone can be determined from candidate drones for subsequent substation equipment inspection. In this embodiment, to determine the target drone, it is necessary to analyze the response data of at least two candidate drones and / or the response data of the high-voltage test transformer during the flight of at least two candidate drones, and then screen out the target drone to perform the subsequent substation equipment inspection. In this embodiment, the response data of at least two candidate drones and / or the response data of the high-voltage test transformer can reflect various influencing factors, such as discharge at the output terminal of the high-voltage test transformer, overcurrent protection action of the high-voltage test transformer, drone's inability to locate, and drone flight instability. The target drone is adaptively determined based on the above influencing factors. Taking two candidate drones as an example, if the flight parameters are the same and the response data of the high-voltage test transformer are similar, and the response data of the two candidate drones reflect that the flight stability of one candidate drone is worse than that of the other when approaching the high-voltage test transformer, then the other candidate drone is selected as the target drone. If there are two candidate drones, and one candidate drone has poor flight stability but has little impact on the high-voltage test transformer, while the other candidate drone has good flight stability but has a greater impact on the high-voltage test transformer, then the candidate drone with less impact on the working stability of the high-voltage test transformer is selected as the target drone to protect the substation equipment.

[0039] The technical solution of this application embodiment controls candidate drones to fly around a high-voltage test transformer according to preset flight parameters; during the flight of the candidate drones, the response data of the candidate drones and / or the response data of the high-voltage test transformer are acquired; based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, a target drone is determined from the candidate drones, and the target drone is used to inspect the substation equipment. This technical solution can screen out candidate drones with the least impact on the high-voltage test transformer and the drone itself as the target drone, reducing the impact of drone inspection on substation equipment and the drone itself, and improving the safety of drone inspection of substation equipment.

[0040] Example 2

[0041] Figure 2 This is a flowchart of a drone control method provided in Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiment.

[0042] like Figure 2 As shown, the method in this embodiment specifically includes the following steps:

[0043] S210 controls the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters.

[0044] In this embodiment of the application, optionally, the preset flight parameters include a preset starting point and a preset flight speed; the distance between the preset starting point and the high-voltage test transformer is the sum of the distance from the center of the candidate UAV to its wing and the theoretical safe distance of the high-voltage test transformer, and the height of the preset starting point is the height of the output end of the high-voltage test transformer; correspondingly, controlling the candidate UAV to fly around the high-voltage test transformer according to the preset flight parameters includes: controlling the candidate UAV to approach the high-voltage test transformer at the preset starting point and at a preset flight speed.

[0045] The theoretical safe distance can be the distance that the candidate UAV's wings should maintain between the candidate UAV and the high-voltage test transformer during the candidate UAV's flight around the transformer. This distance theoretically ensures the safety of the UAV's inspection of substation equipment. The theoretical safe distance can vary depending on the output voltage of the high-voltage test transformer. The preset flight speed can be determined according to the actual situation, and this application does not limit it.

[0046] In this scheme, to determine the actual safe distance between at least two candidate drones, the candidate drones are controlled to approach the high-voltage test transformer from a preset starting point at a preset flight speed. Specifically, the at least two candidate drones are of different models, and the distance between their centers and wings is different, therefore the preset starting points are different. Upon receiving a candidate drone takeoff signal, this embodiment can control one candidate drone to take off, fly to the preset starting point, and approach the high-voltage test transformer from the preset starting point at a preset flight speed. The remaining candidate drones are then sequentially controlled to perform the operations of the first candidate drone. Furthermore, the preset starting point for each candidate drone can be pre-stored. Upon receiving a candidate drone takeoff signal, this embodiment reads the preset starting point and other information, and controls the corresponding candidate drone to take off.

[0047] This scheme sets the distance between the candidate UAV and the high-voltage test transformer to be the sum of the distance from the center of the candidate UAV to its wing and the theoretical safe distance of the high-voltage test transformer. This controls the candidate UAV to approach the high-voltage test transformer from the preset starting point, ensuring that the initial distance between the candidate UAV and the high-voltage test transformer is greater than the actual safe distance.

[0048] S220, using image data acquired by the image acquisition device, determine the first time when the candidate UAV's charged display starts to emit light and / or the second time when the output terminal of the high-voltage test transformer starts to discharge.

[0049] The image acquisition device can be a high-speed camera, capable of recording the process of a candidate drone approaching a high-voltage test transformer from a preset starting point at a high frame rate. A voltage indicator can display whether the electrical equipment is carrying operating voltage. The voltage indicator can be mounted on the candidate drone; if the indicator lights up, it indicates that the candidate drone is affected by the high-voltage test transformer and is carrying operating voltage.

[0050] Specifically, after the candidate drone reaches the preset starting point, the image acquisition device is activated. During the process of the candidate drone approaching the high-voltage test transformer from the preset starting point, the image acquisition device is activated to acquire image frames of the output end of the high-voltage test transformer and the candidate drone. Based on the time of the image frame capture, the first time when the candidate drone's energized display starts to light up and / or the second time when the output end of the high-voltage test transformer starts to discharge can be determined.

[0051] S230, determine the actual flight distance of the candidate UAV based on the first time and / or the second time, and the preset flight speed; determine the actual safe distance based on the distance between the preset starting point and the high-voltage test transformer, and the actual flight distance.

[0052] The actual flight distance can be the distance from the candidate drone's preset starting point to the position where its energized indicator begins to light up and / or the position where the high-voltage test transformer's output terminal begins to discharge. For example, if the energized indicator lights up first during the candidate drone's approach to the high-voltage test transformer, the actual distance can be the distance from the preset starting point to the position where the energized indicator begins to light up; if the high-voltage test transformer discharges first, the actual distance can be the distance from the preset starting point to the position where the high-voltage test transformer begins to discharge. The actual safe distance can be the theoretical safe distance minus the actual flight distance.

[0053] For example, if the output voltage of the high-voltage test transformer is 10KV, the safe distance x1 = 0.7m, and the distance from the center of the candidate UAV to its wing is x2 = 0.18m, then the distance between the preset starting point and the high-voltage test transformer is 0.88m, and the preset flight speed is v = 1m / s. Therefore, the actual safe distance is x = x1 + x2 - v * min(t1, t2), where t1 and t2 are the first and second times, respectively. After measuring the actual safe distance of one candidate UAV, the preset flight parameters of the remaining candidate UAVs are read, and the actual safe distances of the remaining candidate UAVs are measured. Further, the output voltage of the high-voltage test transformer is changed, and the above steps are repeated. For example, the output voltage can be changed to 35KV, 110KV, 220KV, and 500KV. The theoretical safe distances are 1m, 1.5m, 3m, and 5m, respectively.

[0054] S240, Based on the actual safe distance, determine the target drone from the candidate drones, and use the target drone to inspect the substation equipment.

[0055] Specifically, based on the actual safe distance and the surrounding environment of the substation equipment, the target drone is selected from the candidate drones. For example, if there are no special requirements for the surrounding environment of the substation equipment, the candidate drone with the smallest actual safe distance can be selected as the target drone. If there are other equipment or obstacles around the substation equipment, a smaller candidate drone can be selected as the target drone, and the target drone is used to inspect the substation equipment.

[0056] The technical solution of this application determines the actual flight distance of a candidate drone by using the first time the candidate drone's energized display begins to illuminate and / or the second time the output terminal of the high-voltage test transformer begins to discharge, along with a preset flight speed. Based on the distance between the preset starting point and the high-voltage test transformer, and the actual flight distance, the actual safe distance is determined. This avoids the problem of discrepancies between the theoretical and actual safe distances, and by determining a suitable target drone for patrol work based on the actual safe distance.

[0057] Example 3

[0058] Figure 3This is a flowchart of a drone control method provided in Embodiment 3 of the present invention. This embodiment is an optimization based on the above embodiment.

[0059] like Figure 3 As shown, the method in this embodiment specifically includes the following steps:

[0060] S310 controls the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters.

[0061] In this embodiment of the application, optionally, the preset flight parameters include a preset starting point; the distance between the preset starting point and the high-voltage test transformer is the product of the candidate coefficient and the initial safety distance, the initial safety distance is the sum of the distance from the center of the candidate UAV to the wing and the theoretical safety distance of the high-voltage test transformer, and the height of the preset starting point is the height of the output end of the high-voltage test transformer; the candidate UAV is controlled to perform horizontal circular flight with the output end of the high-voltage test transformer as the center at the preset starting point.

[0062] The candidate coefficients can be determined based on actual conditions, and this application embodiment does not limit this. Upon receiving a candidate drone takeoff signal, this application embodiment controls one candidate drone to fly to a preset starting point and perform horizontal circular flight with the output terminal of the high-voltage test transformer as the center. The flight radius can vary with the candidate coefficients; for example, the initial candidate coefficient is 0.1, and it can be successively changed to 0.2, 0.3, 0.4, up to 2.0. After completing the test of this candidate drone, the remaining candidate drones are controlled to take off sequentially, and the above steps are repeated until the flight test of all candidate drones is completed. Furthermore, the preset starting point of each candidate drone can be stored in advance on a hard disk. Upon receiving a candidate drone takeoff signal, this application embodiment reads the preset starting point and other information, and controls the corresponding candidate drone to take off.

[0063] This scheme controls the candidate UAV to fly in a horizontal circle with the output end of the high-voltage test transformer as the center, and changes the flight radius by using candidate coefficients, thus ensuring the comprehensiveness of the data collected from the candidate UAV during the flight.

[0064] S320 acquires at least one of the following: the candidate UAV's positioning signal, the minimum number of satellites that can be searched during flight, and the compass's operational status.

[0065] The positioning signals include, but are not limited to, real-time kinematic (RTK) and GPS signals. During the flight of the candidate drone, the number of satellites detected may vary at different times. The minimum number of satellites detected by the candidate drone within a preset time period is the minimum number of satellites the candidate drone can detect during flight. For example, if the drone detects 3 satellites for a period and 8 satellites for the remaining time, then the minimum number of satellites the candidate drone can detect during flight is 3. The compass working status indicates whether the compass is functioning properly.

[0066] Specifically, the candidate drone wirelessly transmits its positioning signal, the minimum number of satellites it can search for during flight, and the compass working status to the candidate drone control software. In this embodiment, the information can be read directly from the candidate drone control software.

[0067] S330, if the candidate drone's corresponding data meets at least one of the following conditions, then the candidate drone is determined as the target drone: the candidate drone's positioning signal is normal; the minimum number of satellites that can be searched during flight is greater than a preset threshold; the compass is in normal working condition.

[0068] The preset threshold number can be the number of satellites that a candidate drone needs to connect to for accurate positioning, and can be determined according to actual conditions. This application embodiment does not limit this. Specifically, after obtaining the positioning signals of all candidate drones, the minimum number of satellites that can be searched during flight, or the compass working status, the target drone is adaptively determined. Taking two candidate drones as an example, if one candidate drone has a normal positioning signal and the minimum number of satellites that can be searched during flight is greater than the preset threshold number, and the other candidate drone has a normal positioning signal, the minimum number of satellites that can be searched during flight is greater than the preset threshold number, and the compass is in normal working status, then the other candidate drone is determined as the target drone. It should be noted that the number of candidate drones in the above scheme is only an example and is not a limitation on the number. The specific number can be determined according to actual conditions, for example, there can be multiple drones. Further, the output voltage of the high-voltage test transformer is changed, and the above steps are repeated. For example, the output voltage can be changed to 35KV, 110KV, 220KV, and 500KV. The theoretical safe distances are 1m, 1.5m, 3m, and 5m, respectively.

[0069] S340, the target drone is used to inspect the substation equipment.

[0070] The technical solution of this application embodiment determines the target drone by detecting the positioning signal of the candidate drone, the minimum number of satellites that can be searched during flight, and the working status of the compass, so as to perform subsequent substation equipment inspection work and ensure the operational stability of the drone during the inspection process.

[0071] Example 4

[0072] Figure 4 This is a flowchart of a drone control method provided in Embodiment 4 of the present invention. This embodiment is an optimization based on the above embodiment.

[0073] like Figure 4 As shown, the method in this embodiment specifically includes the following steps:

[0074] S410 controls the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters.

[0075] In this embodiment, optionally, there are at least two high-voltage test transformers, the output voltage of the at least two high-voltage test transformers is the same, and the at least two high-voltage test transformers are respectively connected to the phase conductor down conductors at a preset interval; the preset flight parameters include a preset starting point; the preset starting point is any point between two adjacent phase conductors; the candidate UAV is controlled to fly in a direction perpendicular to the ground from the preset starting point.

[0076] The preset interval can be determined according to the actual situation, and this application embodiment does not limit it. The phase conductor down conductor can be a conductor led out from two phases of a three-phase line. In this embodiment, the target drone is selected based on whether the candidate drone causes a short circuit between two phase conductors during the inspection process. Specifically, in this application embodiment, upon receiving the take-off signal of a candidate drone, one candidate drone is controlled to fly to a preset starting point, and then fly in a direction perpendicular to the ground from the preset starting point, flying as far as possible between any position between two adjacent phase conductors. The drone is then controlled to return to the take-off position, and the remaining candidate drones are controlled to take off in sequence. The above steps are repeated until the flight test of all candidate drones is completed. Furthermore, the preset starting point of each candidate drone can be stored in advance on a hard disk. In this application embodiment, upon receiving the take-off signal of a candidate drone, the preset starting point and other information are read, and the corresponding candidate drone is controlled to take off. Optionally, the output voltage of at least two high-voltage test transformers can be 10KV.

[0077] S420, detect the working status of the overcurrent protection device of the high-voltage test transformer; based on the working status of the overcurrent protection device, determine the target UAV from the candidate UAVs.

[0078] The overcurrent protection device protects the high-voltage test transformer from damage caused by short-circuit current. Specifically, if the overcurrent protection device is not triggered during the flight of a candidate drone, that candidate drone can be used as the target drone. The process involves iterating through all candidate drones to identify all target drones that will not trigger the overcurrent protection device. Further, the output voltage of the high-voltage test transformer is changed, and the above steps are repeated. For example, the output voltage can be changed to 35KV, 110KV, 220KV, and 500KV.

[0079] Optionally, before performing the method described in the embodiments of this application, it is possible to detect whether the overcurrent protection device is working properly, so as to avoid the overcurrent protection device being in an abnormal working state and affecting the test results.

[0080] S430, the target drone is used to inspect the substation equipment.

[0081] The technical solution of this application embodiment determines the target drone by controlling the candidate drone to fly between phase conductors and detecting the working status of the overcurrent protection device, so as to perform subsequent substation equipment inspection work and ensure the safety and stability of substation equipment during the subsequent drone inspection process.

[0082] Example 5

[0083] Figure 5 This is a schematic diagram of a drone control device provided in Embodiment 5 of the present invention. This device can execute the drone control method provided in any embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects of the method. For example... Figure 5 As shown, the device includes:

[0084] The UAV control module 510 is used to control the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters;

[0085] The response data acquisition module 520 is used to acquire the response data of the candidate UAV and / or the response data of the high-voltage test transformer during the flight of the candidate UAV.

[0086] The target drone determination module 530 is used to determine the target drone from the candidate drones based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, so as to use the target drone to inspect the substation equipment.

[0087] Optionally, the preset flight parameters include a preset starting point and a preset flight speed; the distance between the preset starting point and the high-voltage test transformer is the sum of the distance from the center of the candidate UAV to the wing and the theoretical safe distance of the high-voltage test transformer, and the height of the preset starting point is the height of the output end of the high-voltage test transformer;

[0088] Accordingly, the UAV control module 510 includes:

[0089] The drone flight unit is used to control the candidate drone to fly close to the high-voltage test transformer at a preset starting point and a preset flight speed.

[0090] The response data acquisition module 520 includes:

[0091] The timing unit is used to determine the first time when the charged display of the candidate UAV starts to emit light and / or the second time when the output terminal of the high-voltage test transformer starts to discharge, based on the image data acquired by the image acquisition device.

[0092] Optionally, the target drone determination module 530 includes:

[0093] The actual flight distance determination unit is used to determine the actual flight distance of the candidate UAV based on the first time and / or the second time, and a preset flight speed.

[0094] The actual safe distance determination unit is used to determine the actual safe distance based on the distance between the preset starting point and the high-voltage test transformer, as well as the actual flight distance.

[0095] The target drone determination unit is used to determine the target drone from the candidate drones based on the actual safe distance.

[0096] Optionally, the preset flight parameters include a preset starting point; the distance between the preset starting point and the high-voltage test transformer is the product of the candidate coefficient and the initial safety distance, the initial safety distance is the sum of the distance from the center of the candidate UAV to the wing and the theoretical safety distance of the high-voltage test transformer, and the height of the preset starting point is the height of the output end of the high-voltage test transformer;

[0097] Accordingly, the UAV control module 510 includes:

[0098] The drone flight unit is used to control the candidate drone to perform horizontal circular flight with the output end of the high-voltage test transformer as the center at a preset starting point;

[0099] The response data acquisition module 520 includes:

[0100] The acquisition unit is used to acquire at least one of the following: the location signal of the candidate UAV, the minimum number of satellites that can be searched during flight, and the compass operating status.

[0101] Optionally, the target drone determination module 530 includes:

[0102] The target drone determination unit is configured to determine a candidate drone as a target drone if the corresponding data of the candidate drone satisfies at least one of the following:

[0103] The candidate drone's positioning signal is normal;

[0104] The minimum number of satellites that can be searched during flight is greater than a preset threshold.

[0105] The compass is functioning normally.

[0106] Optionally, there are at least two high-voltage test transformers, and the output voltage of the at least two high-voltage test transformers is the same. The at least two high-voltage test transformers are respectively connected to the phase conductor down conductors at a preset interval. The preset flight parameters include a preset starting point. The preset starting point is any point between two adjacent phase conductors.

[0107] Accordingly, the UAV control module 510 includes:

[0108] The drone flight unit is used to control candidate drones to fly in a direction perpendicular to the ground from a preset starting point.

[0109] Optionally, the target drone determination module 530 includes:

[0110] The working status detection unit is used to detect the working status of the overcurrent protection device of the high-voltage test transformer;

[0111] The target drone determination unit is used to determine the target drone from the candidate drones based on the operating status of the overcurrent protection device.

[0112] The unmanned aerial vehicle (UAV) control device provided in this embodiment of the invention can execute a UAV control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0113] Example 6

[0114] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0115] like Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0116] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0117] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as drone control methods.

[0118] In some embodiments, the drone control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the drone control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the drone control method by any other suitable means (e.g., by means of firmware).

[0119] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0121] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0123] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0124] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0125] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0126] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, The method includes: Control the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters; During the flight of the candidate UAV, acquire the response data of the candidate UAV and / or the response data of the high-voltage test transformer; Based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, a target drone is determined from the candidate drones so as to use the target drone to inspect the substation equipment; The preset flight parameters include a preset starting point and a preset flight speed; the distance between the preset starting point and the high-voltage test transformer is the sum of the distance from the center of the candidate UAV to the wing and the theoretical safe distance of the high-voltage test transformer; the height of the preset starting point is the height of the output end of the high-voltage test transformer. Accordingly, controlling the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters includes: Control the candidate drone to fly close to the high-voltage test transformer at a preset starting point and a preset flight speed; Acquiring response data from the candidate UAV and / or the high-voltage test transformer includes: The first time when the charged display of the candidate UAV starts to light up and / or the second time when the output terminal of the high-voltage test transformer starts to discharge are determined by the image data collected by the image acquisition device. The step of determining the target drone from the candidate drones based on the response data of the candidate drones and / or the response data of the high-voltage test transformer includes: The actual flight distance of the candidate UAV is determined based on the first time and / or the second time, and a preset flight speed; The actual safe distance is determined based on the distance between the preset starting point and the high-voltage test transformer, as well as the actual flight distance. The target drone is determined from the candidate drones based on the actual safe distance.

2. The method according to claim 1, characterized in that, The preset flight parameters include a preset starting point; the distance between the preset starting point and the high-voltage test transformer is the product of the candidate coefficient and the initial safety distance, the initial safety distance is the sum of the distance from the center of the candidate UAV to the wing and the theoretical safety distance of the high-voltage test transformer, and the height of the preset starting point is the height of the output end of the high-voltage test transformer; Accordingly, controlling the candidate UAV to fly around the high-voltage test transformer according to preset flight parameters includes: Control the candidate UAV to perform horizontal circular flight with the output end of the high-voltage test transformer as the center at the preset starting point; Obtain response data from candidate drones, including: Acquire at least one of the following: the candidate drone's positioning signal, the minimum number of satellites that can be searched during flight, and the compass's operating status.

3. The method according to claim 2, characterized in that, Determining the target drone from the candidate drones based on their response data includes: If the relevant data of the candidate drone satisfies at least one of the following, then the candidate drone is determined as the target drone: The candidate drone's positioning signal is normal; The minimum number of satellites that can be searched during flight is greater than a preset threshold. The compass is functioning normally.

4. The method according to claim 1, characterized in that, There are at least two high-voltage test transformers, and the voltage of the at least two high-voltage test transformers is the same. The at least two high-voltage test transformers are respectively connected to the phase conductor down conductors at a preset interval; the preset flight parameters include a preset starting point; The preset starting point is any point between two adjacent phase conductors; Accordingly, controlling the candidate UAV to fly between two adjacent phase conductors according to preset flight parameters includes: Control the candidate drone to fly in a direction perpendicular to the ground from a preset starting point.

5. The method according to claim 4, characterized in that, Based on the response data of the high-voltage test transformer, the target UAV is determined from the candidate UAVs, including: The operating status of the overcurrent protection device of the high-voltage test transformer is detected; The target drone is determined from the candidate drones based on the operating status of the overcurrent protection device.

6. A drone control device, characterized in that, The device includes: The drone control module is used to control the candidate drone to fly around the high-voltage test transformer according to preset flight parameters; The response data acquisition module is used to acquire the response data of the candidate UAV and / or the response data of the high-voltage test transformer during the flight of the candidate UAV. The target drone determination module is used to determine the target drone from the candidate drones based on the response data of the candidate drones and / or the response data of the high-voltage test transformer, so as to use the target drone to inspect the substation equipment; The preset flight parameters include a preset starting point and a preset flight speed; the distance between the preset starting point and the high-voltage test transformer is the sum of the distance from the center of the candidate UAV to the wing and the theoretical safe distance of the high-voltage test transformer; the height of the preset starting point is the height of the output end of the high-voltage test transformer. Accordingly, the UAV control module includes: The drone flight unit is used to control the candidate drone to fly close to the high-voltage test transformer at a preset starting point and a preset flight speed. The response data acquisition module includes: The time determination unit is used to determine the first time when the charged display of the candidate UAV starts to light up and / or the second time when the output terminal of the high-voltage test transformer starts to discharge, based on the image data acquired by the image acquisition device. The target UAV determination module includes: The actual flight distance determination unit is used to determine the actual flight distance of the candidate UAV based on the first time and / or the second time, and a preset flight speed. The actual safe distance determination unit is used to determine the actual safe distance based on the distance between the preset starting point and the high-voltage test transformer, as well as the actual flight distance. The target drone determination unit is used to determine the target drone from the candidate drones based on the actual safe distance.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the unmanned aerial vehicle control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the unmanned aerial vehicle control method according to any one of claims 1-5.

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