A grid-based power management and control platform for drone inspection based on single-soldier mobility

Abstract

The present invention provides a grid-based power control platform for unmanned aerial vehicle inspection based on single-soldier mobility. The control platform includes a server, a database, a unmanned aerial vehicle, an electric bicycle, a collection module, an interaction module, a recovery module, and a route planning module. The collection module is used to inspect the transmission line to collect image data of the transmission line; the interaction module is used to interact with the unmanned aerial vehicle and the collection module to achieve collaborative interaction of the inspection position and the inspection angle; the recovery module is used to cooperate with the unmanned aerial vehicle for recovery to dock the unmanned aerial vehicle on the recovery landing board of the electric bicycle; the route planning module is used to plan the inspection route of the unmanned aerial vehicle to realize the inspection of the power line. The present invention plans the inspection route and inspection points of the unmanned aerial vehicle through the path planning module, improves the inspection accuracy and efficiency of the unmanned aerial vehicle, and also ensures that the inspection points of the transmission line can be inspected to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of power network inspection, and in particular to a power grid management and control platform based on single-soldier mobile unmanned aerial vehicle inspection. Background Art

[0002] At present, with the development of drone technology and automatic control technology, drone inspection technology for power lines has developed rapidly and is gradually replacing traditional manual inspection methods, effectively reducing labor costs and safety risks and improving inspection work efficiency.

[0003] For example, the prior art CN103730864B discloses a collaborative control method for UAV power line inspection. In recent years, UAVs are usually equipped with some or all equipment and sensors including a stable platform (or gimbal), a positioning and attitude system, a laser scanner, an infrared thermal imager, an ultraviolet imager, a video recorder, a visible light camera, etc. to carry out inspection work. However, due to the lack of overall system design, the synchronization between various equipment and sensors and the complexity of the working mode, the various sensors loaded on the UAV lack connection in most cases, and the transmission and processing of data are also independent of each other, which cannot give full play to the multi-source data comparison advantage and accuracy of multi-sensor synchronous inspection.

[0004] Another typical example is the prior art CN111510686B, which discloses a vehicle-mounted UAV power inspection flight control method and system. Nowadays, the use of UAVs for power inspection has gradually become part of power inspection work, but power inspections are often conducted outdoors, and the inspection tasks are arduous, so high requirements are placed on UAVs. In addition, the outdoor environment also places many restrictions on the operation of UAVs. How to reduce the failure rate of UAVs caused by outdoor environmental factors, and how to improve the adaptability of UAVs to heavy work tasks? At the same time, although UAVs are currently used for inspection operations, most of them are manually operated, which also brings certain errors to the accuracy of the inspection.

[0005] The present invention is made to solve the common problems in the field, such as unstable data transmission, the need for relay transmission, poor endurance, poor management and control effects, poor route inspection adaptability and poor interactivity. Summary of the invention

[0006] The purpose of the present invention is to propose a grid-based power management and control platform for drone inspection based on single-soldier mobility in response to the existing deficiencies.

[0007] The present invention adopts the following technical solution:

[0008] A grid-based power management and control platform for drone inspection based on single-soldier mobility, the management and control platform includes a server, a database, and a drone. The management and control platform also includes an electric bicycle, a collection module, an interaction module, a recycling module, and a route planning module.

[0009] The server is connected to the collection module, the interaction module, the recovery module and the route planning module respectively; the recovery module is arranged on the electric bicycle to recover the drone after the inspection;

[0010] The acquisition module is used to inspect the power transmission line to acquire image data of the power transmission line; wherein the acquisition module is arranged on the drone;

[0011] The interaction module is used to interact with the drone and the acquisition module to achieve collaborative interaction on the inspection position and inspection angle;

[0012] The recovery module is used to cooperate with the drone for recovery, so as to dock the drone on the recovery landing board of the electric bicycle;

[0013] The route planning module is used to plan the inspection route of the drone to realize the inspection of the power line;

[0014] The recovery module includes a recovery unit and a positioning unit, wherein the recovery unit is used to guide the recovery of the UAV; the positioning unit is used to locate the real-time position of the UAV to cooperate with the recovery unit to recover the UAV;

[0015] The recovery unit includes a guide component and a landing pairing component, wherein the landing pairing component is used to pair the drone with the electric bicycle, and after the pairing is successful, the drone is guided to be recovered through the guide component; the guide component is used to guide the drone that enters the recovery identification range so that the drone can land on the recovery landing board; the positioning unit obtains the current positions of the drone and the electric bicycle, and calculates the distance dis between the two, wherein the distance between the drone and the electric bicycle is calculated according to the following formula:

[0016]

[0017] In the formula, (x 1 ,y 1 ,h 1 ) is the position coordinate of the drone; (x 2 ,y 2 ,h 2 ) is the position coordinate of the electric bicycle,

[0018] Among them, h1 is the altitude of the drone, calculated according to the following formula:

[0019]

[0020] k 1 +k 2 +k 3 =1

[0021] In the formula, k 1 , k 2 , k 3 is the weight, and its value is set by the operator; H 1 H is the measured altitude value of the air pressure sensor installed on the drone; 2 H is the measured height value of the ultrasonic sensor installed on the drone; 3 is the measured altitude value of the laser sensor installed on the drone;

[0022] For the measured altitude value H of the air pressure sensor 1 Calculate according to the following formula:

[0023]

[0024] Where, T i The UAV is at a height H i The temperature at that time; β is the vertical temperature change rate; R is the gas constant; g is the gravitational acceleration; P 0 The UAV is at a height of H 1 The corresponding atmospheric pressure when i The UAV is at a height of H i The corresponding atmospheric pressure at ;

[0025] For the measured height value H of the ultrasonic sensor 2 Calculate according to the following formula:

[0026]

[0027] In the formula, c is the propagation speed of sound waves in the air; t is the propagation time;

[0028] If the distance dis between the drone and the electric bicycle is less than the recovery identification range threshold D, a pairing relationship is established through the landing pairing component, and the drone is hovered just above the recovery landing plate of the electric bicycle, and the drone is guided to land on the electric bicycle through the guide component.

[0029] Optionally, the landing pairing component includes a pairing issuing terminal, a sensing radar and a pairing code basic database.

[0030] The pairing issuing terminal is used to issue the pairing code between the guide member and the electric bicycle; the induction radar is used to receive the identification code of the drone; the pairing code basic database is used to compare the new pairing code generated by the pairing issuing terminal, and the new pairing code is valid only when it is inconsistent with the previous pairing code stored in the pairing code basic database;

[0031] After the new pairing code is used, it is stored in the pairing code basic database, and the pairing code basic database is updated.

[0032] Optionally, the route planning module includes a route planning unit and a task management unit, wherein the task management unit is used to manage the inspection tasks of the drone; the route planning unit is used to plan the inspection route of the drone to cooperate with the drone to inspect the power transmission line;

[0033] The task management unit includes a task database, a task issuer and a task manager. The task database stores basic task data related to the inspection location; the task issuer transmits the task data in the task database to the drone; and the task manager manages the task completion status of the drone based on the inspection route data.

[0034] Optionally, the interaction module includes an interaction unit and a status monitoring unit, wherein the interaction unit is used to interact between the acquisition module and the drone; and the status monitoring unit is used to monitor the status of the drone;

[0035] The interaction unit obtains the altitude data of the UAV and the location data of the power transmission line, and adjusts the acquisition angle of the acquisition module according to the altitude data of the UAV and the location data of the power transmission line.

[0036] Optionally, the acquisition module includes an acquisition unit and a posture adjustment unit, the acquisition unit is used to acquire images of the transmission line; the posture adjustment unit is used to adjust the acquisition posture of the acquisition unit; wherein the acquisition unit includes an acquisition probe and a data storage device, the acquisition probe is used to acquire images of the transmission line; the data storage device is used to store image data acquired by the acquisition probe.

[0037] Optionally, the posture adjustment unit includes an adjustment component and a posture collector, the posture collector is used to collect the current posture of the drone; the adjustment component adjusts the collection angle of the collection probe based on data from the posture collector;

[0038] The adjustment component includes an adjustment frame, an angle detection member, an adjustment seat, and an adjustment drive mechanism. The adjustment frame is used to support the collection unit, the adjustment seat, and the adjustment drive mechanism; the adjustment seat is used to support the collection probe, and the adjustment seat is hinged to the adjustment seat; the angle detection member is used to detect the rotation angle of the adjustment seat; the adjustment drive mechanism is drivingly connected to the adjustment seat.

[0039] Optionally, the status of the drone includes endurance, distance from the electric bicycle, and inspection height.

[0040] The beneficial effects achieved by the present invention are:

[0041] 1. Through the cooperation between the acquisition module and the interaction module, the acquisition angle of the acquisition module can be dynamically adjusted according to the posture of the drone during the inspection of the transmission line, thereby improving the acquisition accuracy of the acquisition module for the transmission line;

[0042] 2. The recovery module is used to recover the drone that has completed the inspection mission, so that the drone can land autonomously on the recovery landing board, ensuring the reliability and intelligence of the drone's autonomous landing and recovery;

[0043] 3. The inspection route and inspection points of the drone are planned through the path planning module to improve the inspection accuracy and efficiency of the drone, and to ensure that all inspection points of the transmission line can be inspected to the maximum extent;

[0044] 4. The adjustment component cooperates with the posture collector, so that the adjustment component can dynamically adjust the collection probe according to the posture of the drone, thereby improving the collection accuracy of the collection probe for the transmission line image;

[0045] 5. Use the interactive module to coordinate the drone and the acquisition module to improve the accurate acquisition of transmission line images;

[0046] 6. Through the coordination of the guiding component and the landing pairing component, the drones in the identification range can be paired, a guiding mapping relationship between the drone and the guiding component is established, and the drone is safely and accurately guided to the recovery landing board.

[0047] 7. Through the identification unit, the drone and the guide component, and the matching identification component, the drone can be accurately docked on the recovery landing board, which improves the recovery efficiency of the drone and further reduces the labor intensity of the operator. It has a high intelligent management and control capability, which promotes the efficiency and reliability of the transmission line inspection.

[0048] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0050] Figure 1 It is an overall block diagram of the present invention.

[0051] Figure 2 It is a schematic diagram of the structure of the electric bicycle and the drone of the present invention.

[0052] Figure 3 It is a schematic diagram of the structure of the tail box and the UAV of the present invention.

[0053] Figure 4 It is a schematic structural diagram of the UAV of the present invention.

[0054] Figure 5 It is a structural schematic diagram of the adjustment component and the collection probe of the present invention.

[0055] Figure 6 It is a schematic diagram of the inspection scene at various inspection angles on the transmission tower of the present invention.

[0056] Figure 7 The figure is a schematic diagram of a scene of the flight trajectory of the UAV of the present invention at an inspection point.

[0057] Figure 8 It is a schematic diagram of the control process of the drone of the present invention for recovery and landing according to the two-dimensional code of the drone nest.

[0058] Fig. 9 It is a schematic diagram of a scene in which the UAV of the present invention is recovered and landed on a recovery landing board.

[0059] Explanation of the accompanying figures: 1-transmission tower; 2-inspection angle; 3-recovery of the landing board; 4-electric bicycle; 5-UAV; 6-side box; 7-tail box; 8-adjustment component; 9-collection probe; 10-adjustment frame; 11-adjustment drive mechanism. DETAILED DESCRIPTION

[0060] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0061] Embodiment 1.

[0062] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 As shown, this embodiment provides a grid-based power management and control platform for drone inspection based on single-soldier mobility, the management and control platform includes a server, a database, and a drone, the management and control platform also includes an electric bicycle, a collection module, an interaction module, a recycling module, and a route planning module.

[0063] The server is connected to the collection module, the interaction module, the recovery module and the route planning module respectively; the recovery module is arranged on the electric bicycle to recover the drone after the inspection;

[0064] The acquisition module is used to inspect the power transmission line to acquire image data of the power transmission line; wherein the acquisition module is arranged on the drone;

[0065] The interaction module is used to interact with the drone and the acquisition module to achieve collaborative interaction on the inspection position and inspection angle;

[0066] The recovery module is used to cooperate with the drone for recovery, so as to dock the drone on the recovery landing board of the electric bicycle;

[0067] The route planning module is used to plan the inspection route of the drone to realize the inspection of the power line;

[0068] The control platform also includes a processor, which is respectively connected to the server, the database, the drone, the acquisition module, the interaction module, the recovery module and the route planning module, and centrally controls the server, the database, the drone, the acquisition module, the interaction module, the recovery module and the route planning module based on the processor to improve the inspection efficiency of the transmission line inspection;

[0069] Among them, through the cooperation between the acquisition module and the interaction module, the acquisition module can dynamically adjust the acquisition angle of the acquisition module according to the posture of the drone during the inspection of the transmission line, thereby improving the acquisition accuracy of the transmission line by the acquisition module;

[0070] In addition, the route planning module plans the inspection route and inspection points of the drone, improves the inspection accuracy and efficiency of the drone, and also ensures that all inspection points of the transmission line can be inspected to the maximum extent;

[0071] The recovery module is used to recover the UAV that has completed the inspection mission, so that the UAV can be autonomously landed on the recovery landing board, ensuring the reliability and intelligence of the autonomous landing recovery of the UAV;

[0072] In this embodiment, before inspecting the transmission line, the inspection route and inspection points need to be set through the route planning module to generate inspection data; after determining the inspection data, the inspection data is sent to the drone to enable the drone to perform autonomous inspection; at the same time, during the inspection process, the acquisition module and the flight posture of the drone are interacted through the interaction module to ensure that the acquisition module can obtain the best acquisition posture, thereby improving the inspection accuracy and efficiency of the drone;

[0073] Among them, after the operator drives the electric bicycle to the operation site, he takes out the drone and places it on the landing board, and starts the drone, so that the drone performs inspection according to the inspection line; when the drone completes the current inspection task, the drone automatically returns to land on the landing board and goes to the next operation site to continue the inspection of the next transmission line;

[0074] Wherein, a drone trunk is provided on the rear seat of the electric bicycle, and the drone trunk is used for storing or charging the drone; wherein the drone trunk comprises a box body, a box cover and a side box, and a connecting piece for hingedly connecting the box body and the box cover; wherein the side box is used for storing emergency tool kits and commonly used tools;

[0075] The box cover is equipped with a foldable drone landing board, which becomes a drone recovery landing platform when opened. The landing board is printed with a machine nest QR code for drone identification in the air; the recovery landing board is equipped with a bubble level to indicate the horizontal state;

[0076] The tail box can accommodate a drone with propellers installed, a remote controller, a tablet computer, 7 batteries and common spare parts. After unpacking, the operation task can be quickly carried out. The box is equipped with a GPS anti-theft tracker;

[0077] The outer shell of the drone trunk is made of high-strength carbon fiber-Kevlar mixed composite material, with a cushioning lining inside, which has rainproof, shock-resistant and anti-theft functions;

[0078] The bottom of the box is designed with a quick-release device. After unlocking, the trunk can be easily removed and brought indoors for charging or storage. The side boxes can store emergency tool kits, rangefinders, binoculars, first aid kits, kettles, power banks, hand saws, notebooks, helmets, etc.

[0079] The side box is made of Kevlar composite material, which is a high-performance material used in bulletproof vests. It has strong toughness and can provide effective protection for the vehicle body and the main box when the electric vehicle rolls over.

[0080] The inspection route is generated by the route planning module. At the same time, in the process of planning by the route planning module, it is necessary to obtain the scope of the transmission line to be inspected, the map distribution data of the transmission line, the distribution map of the operation network, the inspection points and the inspection safety distance value;

[0081] Optionally, the route planning module includes a route planning unit and a task management unit, wherein the task management unit is used to manage the inspection tasks of the drone; the route planning unit is used to plan the inspection route of the drone to cooperate with the drone to inspect the power transmission line;

[0082] The task management unit includes a task database, a task issuer and a task manager. The task database stores basic task data related to the inspection location; the task issuer transmits the task data in the task database to the drone; the task manager manages the task completion status of the drone according to the inspection route data;

[0083] The basic task data includes basic task data such as the maximum inspection distance of the inspection line, multiple inspection angles in each inspection point, etc. After the route planning unit arranges the inspection route, the inspection route is transmitted to the drone through the task issuer, and the drone can perform inspection of the transmission line through the inspection route;

[0084] At the same time, the task manager monitors the inspection tasks of the drone on the inspection route and inspection points in real time according to the inspection route data, so as to realize the monitoring of the inspection route;

[0085] The route planning unit obtains a sequence of inspection points {S 0 ,S 1 ,…,S n-1 ,S n}, the number of inspection points is set by the operator; the distance L between each inspection point n for:

[0086]

[0087] For S i-1 , S i The straight-line distance between inspection points; i∈n, n is the total number of inspection points;

[0088] Among them, at each inspection point, it is necessary to inspect around the symmetric center of the transmission line and the transmission tower after the inspection point is located, so as to cooperate with the acquisition module to perform multi-angle image acquisition of the transmission line and the transmission tower;

[0089] Among them, the transmission tower of the transmission line is inspected at multiple inspection angles R at the same inspection point;

[0090] Among them, the safety distance of multiple inspection angles is TR, which is calculated according to the following formula:

[0091]

[0092] In the formula, r k is the safe distance between the drone and the symmetric center of the transmission tower and the transmission line; apart is the minimum turning radius of the drone;

[0093] At the same time, in the process of planning the path of the UAV, the endurance of the UAV must also be considered to ensure that the UAV can complete the planned inspection route;

[0094] The cost index Cost of each inspection route is calculated according to the inspection points, and the task arrangement index Cost is calculated according to the following formula:

[0095]

[0096] In the formula, Fly is the battery consumption of the drone inspection, and its value is obtained according to the battery loss parameter per kilometer of the drone; t is the duration of the inspection; Battery_life is the battery life of the drone, and its value is related to the battery capacity and current battery status of the drone, satisfying:

[0097]

[0098] In the formula, λ is the inspection environment temperature compensation coefficient; γ is the battery aging compensation coefficient of the drone; Capacity N is the rated capacity of the drone battery; τ is the drone charging and discharging efficiency; Capacity 0 is the current power of the battery when the drone is cruising; I(t) is the current output by the battery during the inspection process; t is the duration of the cruise;

[0099] The drone battery life value Consume needs to meet the following requirements:

[0100] Consume≥2·Cost After satisfying the above conditions, the UAV can still have sufficient power to return to the starting point after cruising the power transmission line, and cooperate with the recovery module to perform the recovery and landing operation;

[0101] Optionally, the acquisition module includes an acquisition unit and a posture adjustment unit, the acquisition unit is used to acquire the transmission line; the posture adjustment unit is used to adjust the acquisition posture of the acquisition unit; wherein the acquisition unit includes an acquisition probe and a data storage device, the acquisition probe is used to acquire image data of the transmission line; the data storage device is used to store the image data acquired by the acquisition probe;

[0102] Optionally, the posture adjustment unit includes an adjustment component and a posture collector, the posture collector is used to collect the current posture of the drone; the adjustment component adjusts the collection angle of the collection probe based on data from the posture collector;

[0103] The adjustment component cooperates with the posture collector so that the adjustment component can dynamically adjust the acquisition probe according to the posture of the drone, thereby improving the acquisition accuracy of the transmission line image by the acquisition probe;

[0104] Wherein, in the process of adjusting the posture of the acquisition probe, the adjustment member needs to align the field of view of the acquisition probe with the center of the power transmission line so that the acquisition probe can obtain the most accurate image data;

[0105] In addition, the adjustment component includes an adjustment frame, an angle detection member, an adjustment seat, and an adjustment drive mechanism, wherein the adjustment frame is used to support the acquisition unit, the adjustment seat, and the adjustment drive mechanism; the adjustment seat is used to support the acquisition probe, and the adjustment seat is hinged to the adjustment seat; the angle detection member is used to detect the rotation angle of the adjustment seat; the adjustment drive mechanism is drivingly connected to the adjustment seat;

[0106] At the same time, after collecting the posture of the UAV, the posture collector cooperates with the UAV and the collection module through the interaction module to improve the accurate collection of the transmission line image;

[0107] Optionally, the interaction module includes an interaction unit and a status monitoring unit, wherein the interaction unit is used to interact between the acquisition module and the drone; the status monitoring unit is used to monitor the status of the drone; wherein the interaction unit obtains the altitude data of the drone and the position data of the power transmission line, and adjusts the acquisition angle of the acquisition module according to the altitude data of the drone and the position data of the power transmission line;

[0108] In addition, the status of the drone includes the endurance, the distance from the electric bicycle, and the inspection height of the drone;

[0109] The state monitoring unit includes a prompt component and a display component, wherein the prompt component is used to display on the display component according to the state of the drone; the display component displays the endurance of the drone, the power of the drone, the current posture of the drone, the real-time inspection position of the current drone, and the collection angle of the collection module according to the prompt component;

[0110] The prompt component includes prompt information and a prompt executable program, and the prompt executable program summarizes the real-time status of the drone to form prompt information; wherein the prompt information includes but is not limited to the following: the state of the drone, the current posture of the drone, the real-time inspection position of the current drone, and the collection angle of the collection module, etc.;

[0111] The display component includes a control screen and a control data storage device, wherein the data storage device is used to store the operation data on the control screen; the control screen is used to display prompt information and warning information, and also to collect the touch data of the operator; at the same time, the operator can set the number of inspection points and inspection angles on the control screen;

[0112] After the drone performs the inspection mission and the mission has been completed, the drone returns to the destination so that the drone can land on the recovery landing board of the mobile electric vehicle;

[0113] The recovery module includes a recovery unit and a positioning unit, wherein the recovery unit is used to guide the recovery of the drone; the positioning unit is used to locate the real-time position of the drone, so as to cooperate with the recovery unit to recover the drone; the positioning unit includes a positioning probe and a data storage library, wherein the positioning probe is used to locate the position of the electric bicycle, and the data storage library is used to store the real-time data of the positioning probe, so as to cooperate with the recovery unit to recover the drone;

[0114] Through the cooperation between the recovery unit and the positioning unit, the drone can be accurately guided according to the positioning data of the electric bicycle to hover the drone on the recovery landing board;

[0115] The recovery unit includes a guide component and a landing pairing component, wherein the landing pairing component is used to pair the drone with the electric bicycle, and after the pairing is successful, the drone is guided to be recovered through the guide component; the guide component is used to guide the drone that enters the recovery identification range so that the drone can land on the recovery landing board; the positioning unit obtains the current positions of the drone and the electric bicycle, and calculates the distance dis between the two, wherein the distance between the drone and the electric bicycle is calculated according to the following formula:

[0116]

[0117] In the formula, (x 1 ,y 1 ,h 1 ) is the position coordinate of the drone; (x 2 ,y 2 ,h 2 ) is the position coordinate of the electric bicycle, and its value can be directly obtained according to the locator set on the electric bicycle;

[0118] Among them, h 1 is the altitude of the drone, calculated according to the following formula:

[0119]

[0120] k 1 +k 2 +k 3 =1

[0121] In the formula, k 1 , k 2 , k 3 is the weight, and its value is set by the operator; H 1H is the measured altitude value of the air pressure sensor installed on the drone; 2 H is the measured height value of the ultrasonic sensor installed on the drone; 3 is the measured altitude value of the laser sensor installed on the drone;

[0122] For the measured altitude value H of the air pressure sensor 1 Calculate according to the following formula:

[0123]

[0124] Where, T i The UAV is at a height H i The temperature at that time; β is the vertical temperature change rate; R is the gas constant; g is the gravitational acceleration; P 0 The UAV is at a height of H 1 The corresponding atmospheric pressure when i The UAV is at a height of H i The corresponding atmospheric pressure at ;

[0125] For the measured height value H of the ultrasonic sensor 2 Calculate according to the following formula:

[0126]

[0127] In the formula, v is the propagation speed of sound waves in the air; t is the propagation time;

[0128] If the distance dis between the drone and the electric bicycle is less than the recovery identification range threshold D, a pairing relationship is established through the landing pairing component, and the drone is hovered just above the recovery landing plate of the electric bicycle, and the drone is guided to land on the electric bicycle through the guiding component;

[0129] Optionally, the landing pairing component includes a pairing issuing terminal, a sensing radar and a pairing code basic database, wherein the pairing issuing terminal is used to issue the pairing code of the guide component and the electric bicycle; the sensing radar is used to receive the identity identification code of the drone; the pairing code basic database is used to compare the new pairing code generated by the pairing issuing terminal, and the new pairing code is valid only when it is inconsistent with the last pairing code stored in the pairing code basic database; wherein, after the new pairing code is used, it is stored in the pairing code basic database, and the pairing code basic database is updated;

[0130] The pairing issuing terminal generates a pairing code according to the following formula:

[0131]

[0132] In the formula, p i is the total number of visits by drone i; access i is the number of visits made by drone i on that day; a i is the current time; d i is the deadline; b i The waiting time triggered when drone i visits; g i The passcode of the last access of drone i, which meets the following requirements:

[0133]

[0134] Among them, series j is the value corresponding to the jth bit of the drone's identity code ID; N∈20; and when a new pass code is generated, the pass code is updated; wherein the total number of digits of the drone's identity code ID is 20, wherein the drone's identity code is obtained by a sensing radar to identify the drone including information such as the identity code;

[0135] The guiding component establishes a guiding relationship with the drone according to the pairing code, so that the guiding component can land on the recovery landing board;

[0136] Through the cooperation between the guiding component and the landing pairing component, the UAV in the identification range can be paired, a guiding mapping relationship between the UAV and the guiding component is established, and the UAV can be safely and accurately guided to the recovery landing board.

[0137] Embodiment 2.

[0138] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 As shown, the recovery module also includes an identification unit, which is used to identify the two-dimensional code of the machine nest on the landing plate. When the drone hovers directly above the electric bicycle, the two-dimensional code of the machine nest is identified by the identification unit to realize the position calibration of the drone and improve the accuracy of the automatic landing of the drone;

[0139] The identification unit includes an identification probe, a distance sensor and a tracking controller. The identification probe is arranged directly below the drone to identify the two-dimensional code of the machine nest; the distance sensor is used to detect the distance between the drone and the recovery landing board; the tracking controller is used to perform recovery control between the drone and the recovery landing board to improve the accuracy of the drone docking on the recovery landing board;

[0140] like Fig. 9 As shown, the identification probe performs image recognition on the machine nest QR code, and locates the landing position according to the position of the image, so as to improve the ability of the drone to accurately dock at the machine nest QR code; how the identification probe collects the image of the machine nest QR code and calibrates the position, specifically involving image processing means such as QR code error measurement, feature point matching, and area positioning, is a technical means well known to those skilled in the art, and those skilled in the art can consult relevant technical manuals to learn about the technology, so it will not be described one by one in this embodiment;

[0141] Among them, Figure 8 As shown, the tracking controller includes a position control loop, a speed control loop and a yaw control loop of the drone, and the landing control part only has a height control loop; at the same time, the above control loops all use a PID controller to control the landing of the drone to improve the accuracy of the drone's docking;

[0142] The PID control algorithm is a well-known technical means for those skilled in the art, and those skilled in the art can refer to relevant technical manuals to learn about the technology, so it will not be described in detail in this embodiment;

[0143] At the same time, the drone only performs tracking control when tracking the target platform normally. Only when the drone receives the landing command, it will perform landing control at the same time. The drone will land while tracking the edge area of ​​the QR code.

[0144] Among them, the landing control is responsible for lowering the height of the drone, but the drone must meet the requirements during the process of lowering the height; among them, the XY coordinate system is established with the plane of the machine nest QR code. The drone will only lower its height when the X-axis and Y-axis directions are less than the set length and the yaw angle is less than the set allowable yaw angle;

[0145] In the above state, it is considered that the drone is aligned with the recovery target platform at this time. The drone will continue to lower its altitude until the altitude is lower than the threshold altitude. The drone will receive a command to turn off the motor, and the tracking and recovery mission is completed at this time.

[0146] During the landing process, the guide component is required to cooperate with the drone to land, so that the landing control of the drone can be guided according to the signal of the guide component, so as to implement different landing speeds at different heights and improve the precise control of the drone speed;

[0147] By cooperating the identification unit with the UAV and the guide component and the matching identification component, the UAV can accurately dock on the recovery landing board, thereby improving the recovery efficiency of the UAV and further reducing the labor intensity of the operator. It has a higher intelligent management and control capability, which promotes the efficiency and reliability of power transmission line inspection.

[0148] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A grid-based power management and control platform based on single-soldier mobile drone inspection, the management and control platform includes a server, a database, and a drone, characterized in that: The control platform also includes an electric bicycle, a collection module, an interaction module, a recycling module, and a route planning module. The server is connected to the collection module, the interaction module, the recovery module and the route planning module respectively; the recovery module is arranged on the electric bicycle to recover the drone after the inspection; The acquisition module is used to inspect the power transmission line to acquire image data of the power transmission line; wherein the acquisition module is arranged on the drone; The interaction module is used to interact with the drone and the acquisition module to achieve collaborative interaction on the inspection position and inspection angle; The recovery module is used to cooperate with the drone for recovery, so as to dock the drone on the recovery landing board of the electric bicycle; The route planning module is used to plan the inspection route of the drone to realize the inspection of the power line; The recovery module includes a recovery unit and a positioning unit, wherein the recovery unit is used to guide the recovery of the UAV; the positioning unit is used to locate the real-time position of the UAV to cooperate with the recovery unit to recover the UAV; The recovery unit includes a guide component and a landing pairing component, wherein the landing pairing component is used to pair the drone with the electric bicycle, and after the pairing is successful, the drone is guided by the guide component for recovery; the guide component is used to guide the drone that enters the recovery identification range so that the drone can land on the recovery landing board; the positioning unit obtains the current positions of the drone and the electric bicycle, and calculates the distance dis between the two, wherein the distance between the drone and the electric bicycle is calculated according to the following formula: Where (x1, y1, h1) is the position coordinate of the UAV; (x2, y2, h2) is the position coordinate of the electric bicycle. Among them, h1 is the altitude of the drone, which is calculated according to the following formula: k1+k2+k3=1 Wherein, k1, k2, k3 are weights, and their values ​​are set according to the operator; H1 is the measured height value of the air pressure sensor installed on the drone; H2 is the measured height value of the ultrasonic sensor installed on the drone; H3 is the measured height value of the laser sensor installed on the drone; The measured altitude value H1 of the air pressure sensor is calculated according to the following formula: Where, T i The UAV is at a height H i The temperature at the time of the test; β is the vertical temperature change rate; R is the gas constant; g is the gravitational acceleration; P0 is the atmospheric pressure corresponding to the UAV at the height of H1; P i The UAV is at a height of H i The corresponding atmospheric pressure at ; The measured height value H2 of the ultrasonic sensor is calculated according to the following formula: In the formula, c is the propagation speed of sound waves in the air; t is the propagation time; If the distance dis between the drone and the electric bicycle is less than the recovery identification range threshold D, a pairing relationship is established through the landing pairing component, and the drone is hovered just above the recovery landing plate of the electric bicycle, and the drone is guided to land on the electric bicycle through the guide component.

2. According to claim 1, a grid-based power management and control platform for unmanned aerial vehicle inspection based on single-soldier mobility is characterized in that: The landing pairing component includes a pairing issuing terminal, a sensing radar and a pairing code basic database. The pairing issuing terminal is used to issue the pairing code between the guide member and the electric bicycle; the induction radar is used to receive the identification code of the drone; the pairing code basic database is used to compare the new pairing code generated by the pairing issuing terminal, and the new pairing code is valid only when it is inconsistent with the previous pairing code stored in the pairing code basic database; After the new pairing code is used, it is stored in the pairing code basic database, and the pairing code basic database is updated.

3. The grid-based power management and control platform for unmanned aerial vehicle inspection based on single-soldier mobility according to claim 2 is characterized in that: The route planning module includes a route planning unit and a task management unit. The task management unit is used to manage the inspection tasks of the drone. The route planning unit is used to plan the inspection route of the drone to cooperate with the drone to inspect the power transmission line. The task management unit includes a task database, a task issuer and a task manager, wherein the task database stores basic task data related to the inspection location; The task issuer transmits the task data in the task database to the drone; The task manager manages the task completion status of the drone based on the inspection route data.

4. The grid-based power management and control platform for unmanned aerial vehicle inspection based on single-soldier mobility according to claim 3 is characterized in that: The interaction module includes an interaction unit and a status monitoring unit, wherein the interaction unit is used to interact between the acquisition module and the drone; the status monitoring unit is used to monitor the status of the drone; The interaction unit obtains the altitude data of the UAV and the location data of the power transmission line, and adjusts the acquisition angle of the acquisition module according to the altitude data of the UAV and the location data of the power transmission line.

5. The grid-based power management and control platform for unmanned aerial vehicle inspection based on single-soldier mobility according to claim 4 is characterized in that: The acquisition module includes a acquisition unit and a posture adjustment unit, and the acquisition unit is used to collect the transmission line; The posture adjustment unit is used to adjust the collection posture of the collection unit; wherein the collection unit includes a collection probe and a data storage device, the collection probe is used to collect images of the transmission line; the data storage device is used to store image data collected by the collection probe.

6. The grid-based power management and control platform for unmanned aerial vehicle inspection based on single-soldier mobility according to claim 5 is characterized in that: The posture adjustment unit includes an adjustment component and a posture collector, wherein the posture collector is used to collect the current posture of the drone; the adjustment component adjusts the collection angle of the collection probe based on the data of the posture collector; The adjustment component includes an adjustment frame, an angle detection member, an adjustment seat, and an adjustment drive mechanism. The adjustment frame is used to support the collection unit, the adjustment seat, and the adjustment drive mechanism; the adjustment seat is used to support the collection probe, and the adjustment seat is hinged to the adjustment seat; the angle detection member is used to detect the rotation angle of the adjustment seat; the adjustment drive mechanism is drivingly connected to the adjustment seat.

7. The grid-based power management and control platform for unmanned aerial vehicle inspection based on single-soldier mobility according to claim 6 is characterized in that: The status of the drone includes endurance, distance from the electric bicycle and inspection height.

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