Distribution network unmanned aerial vehicle along-line flight method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicle power intelligence, in particular to a distribution network unmanned aerial vehicle along-line flight method and device, computer equipment and a storage medium, and the method comprises the steps: monitoring a flight state, and constructing a flight map; extracting conductor point cloud data, and processing the conductor point cloud data to obtain conductor information; constructing a formal table based on the lead information, and repeatedly refreshing along the line and updating the formal table; according to the latest formal table, the flight parameters of the unmanned aerial vehicle are periodically adjusted, and automatic flight along the guide line is achieved. The flight map is accurately constructed by monitoring the flight state in real time, the formal table is established according to the lead information, and repeated refreshing and timely updating are performed along the line, so that the flight parameters of the unmanned aerial vehicle are periodically adjusted according to the latest formal table, the autonomous flight capability and adaptability of the unmanned aerial vehicle in a complex environment are improved, and the method has important practical application value.

Description

Technical Field

[0001] The present invention relates to the field of UAV power intelligent technology, and in particular to a method, device, computer equipment and storage medium for flying a distribution network UAV along a line. Background Art

[0002] With the country's policy inclination in the field of low-altitude economy, the application of drones in the power industry continues to penetrate and popularize, especially the lightweight application of multi-rotor drones in the fields of transmission, transformation, and distribution inspections, which greatly reduces the burden of manual inspections and shows great economic benefits. However, since the safe operation of drones has certain requirements for flight personnel, in order to lower the threshold for the use of drones and further improve the intelligence level of drones in the field of power applications, the research and development of drone automation technology has gradually been put on the agenda. With the development of drone technology, drones have been widely used in the fields of power inspection, agricultural plant protection, logistics and distribution. In these application scenarios, drones need to fly along specific routes to complete specific tasks. However, in actual applications, due to the influence of factors such as complex environment and many obstacles, it is difficult for drones to fly autonomously along the distribution network line.

[0003] At present, there are two main methods for distribution network drones to fly along the route: one is based on the global positioning system (GPS) and the other is based on vision. The GPS-based method requires the installation of multiple GPS base stations in the flight area, which is costly and easily interfered with in complex environments; the vision-based method requires a large amount of image processing of the environment, which is computationally intensive and has poor real-time performance. Therefore, a method for distribution network drones to fly along the route that is low-cost, has good real-time performance, and has strong anti-interference capabilities is needed.

[0004] The above information is presented as background information only to assist with understanding the present disclosure and no determination or admission is made as to whether any of the above may be used as prior art with respect to the present disclosure. Summary of the invention

[0005] The present invention provides a method, device, computer equipment and storage medium for a network distribution UAV to fly along a line, so as to solve the problems existing in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for flying a network distribution UAV along a line, comprising:

[0008] Monitor flight status and build flight maps;

[0009] Extracting wire point cloud data, and processing the wire point cloud data to obtain wire information;

[0010] Building a formal table based on the wire information, and repeatedly refreshing and updating the formal table along the line;

[0011] According to the latest official table, the flight parameters of the drone are adjusted periodically to achieve automatic flight along the guide wire.

[0012] Optionally, the method for flying a network distribution UAV along a line further includes:

[0013] During the flight of the drone, the environment around the wire is screened and filtered to track the wire and obtain wire bifurcation information;

[0014] Based on the wire bifurcation information, a bifurcation flight instruction is given.

[0015] Optionally, after the given forked flight instruction, the method further includes:

[0016] When the UAV is flying along the bifurcation position, the update of the wire information and bifurcation information is suspended;

[0017] After the drone flies a certain distance along the bifurcation position, it re-acquires the bifurcation information and updates it to the official table;

[0018] Periodically adjust the flight parameters of the drone to enable continued flight along the route.

[0019] Optionally, monitoring the flight status and constructing a flight map includes:

[0020] Data collection: Use lidar / imu sensors to collect data during flight;

[0021] Mapping and positioning: Use the fast-lio algorithm to process the collected data to achieve mapping and positioning;

[0022] Rebuilding the map under anomalies: Set the global parameter Qn to record the number of anomalies. When the number of consecutive anomalies exceeds the threshold, the fast-lio algorithm is restarted to rebuild the map;

[0023] Data storage: Store the constructed map data as lasterMap and the odometer data as odometry to obtain the flight map.

[0024] Optionally, extracting the wire point cloud data and processing the wire point cloud data to obtain the wire information includes:

[0025] Taking the real-time position of the UAV in the flight map as the base point, extract the intermediate point cloud data;

[0026] Extracting wire objects from the wire point cloud data to obtain wire point cloud data;

[0027] The wire point cloud data is clustered and calculated to obtain wire position information and direction information.

[0028] Optionally, the periodically adjusting the flight parameters of the drone according to the latest official table includes:

[0029] According to the latest official table of wires, the yaw error of the UAV and the deviation of the wire position are calculated periodically;

[0030] Based on the yaw difference of the UAV direction and the wire position deviation difference, the yaw angle rotation speed and the rolling speed of the UAV are adjusted.

[0031] Optionally, screening and filtering the environment around the wire to track the wire and obtain wire bifurcation information includes:

[0032] Take the vertical distance point from the drone to the wire as the reference point, and expand a certain distance to the left and right of the wire's forward direction to construct the filtering boundary;

[0033] Taking the wire as the object, the wire point cloud data is divided into three parts, and wire extraction is performed on the two outer parts of the wire point cloud data to obtain the bifurcation position information and bifurcation direction information.

[0034] The present invention also provides a distribution network line UAV autonomous flight device along the line, which is used to implement the distribution network UAV along the line flight method as described in any one of the above items, including:

[0035] A map building unit, used to monitor the flight status and build a flight map;

[0036] A data processing unit, for extracting conductor point cloud data, processing the conductor point cloud data to obtain conductor information; and constructing a formal table based on the conductor information, repeatedly refreshing and updating the formal table along the line;

[0037] The flight control unit is used to periodically adjust the flight parameters of the drone according to the latest official table to achieve automatic flight along the guide wire.

[0038] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the method for flying a network distribution drone along a line as described in any one of the above items is implemented.

[0039] The present invention also provides a storage medium containing computer executable instructions, and the computer executable instructions are executed by a computer processor to implement the method for flying a network distribution drone along a line as described in any of the above items.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention provides a method, device, computer equipment and storage medium for a distribution network UAV to fly along a line. The method monitors the flight status in real time to accurately construct a flight map, establishes a formal table based on the wire information, repeatedly refreshes and updates along the line, and periodically adjusts the UAV flight parameters according to the latest formal table, thereby improving the autonomous flight capability and adaptability of the UAV in complex environments, and has important practical application value.

[0042] The present invention has other features and advantages, which will be apparent from or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A flow chart of a method for flying a network distribution UAV along a line provided in Embodiment 1 of the present invention;

[0045] Figure 2 A schematic diagram of an OBB in a method for flying a network-distributing UAV along a line provided in Embodiment 1 of the present invention;

[0046] Figure 3 An example diagram of a conductor in a method for a network distribution UAV to fly along a line provided in the first embodiment of the present invention;

[0047] Figure 4 This is a structural block diagram of a distribution network line drone autonomous flight device provided in Example 2 of the present invention.

[0048] Reference numerals: 10, map construction unit; 20, data processing unit; 30, flight control unit. DETAILED DESCRIPTION

[0049] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0050] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0051] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0052] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0053] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0054] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0055] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0056] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0057] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0058] Due to the large area and complex branches of the distribution network, the periodic inspections of power personnel are severely tested. In order to enhance the intelligence level of UAVs in the field of distribution networks and improve the efficiency of UAV inspections, this paper proposes a solution based on autonomous flight along the distribution network.

[0059] The solution of the present invention is described in detail below in conjunction with the accompanying drawings.

[0060] Embodiment 1

[0061] Please refer to Figure 1 , Figure 1 A flow chart of a method for flying a network distribution UAV along a line provided in this embodiment. An embodiment of the present invention provides a method for flying a network distribution UAV along a line, including:

[0062] S1. Monitor flight status and build flight map.

[0063] Specifically, the step includes:

[0064] Data collection: Use lidar / imu sensors to collect data during flight;

[0065] Mapping and positioning: Use the fast-lio algorithm to process the collected data to achieve mapping and positioning;

[0066] Rebuilding the map under anomalies: Set the global parameter Qn to record the number of anomalies. When the number of consecutive anomalies exceeds the threshold, the fast-lio algorithm is restarted to rebuild the map;

[0067] Data storage: Store the constructed map data as lasterMap and the odometer data as odometry to obtain the flight map.

[0068] It can be understood that step S1 can provide a map data basis.

[0069] Among them, fast-lio is used to realize mapping and positioning based on lidar / imu data. Since fast-lio (open source SLAM algorithm) strictly relies on feature points to realize the registration transformation between point cloud frames in the real-time mapping process based on radar point cloud, it will cause feature points not meeting the requirements in certain specific environments, resulting in mapping interruption. In view of this situation, the embodiment of the present invention proposes the following solution:

[0070] A global parameter Qn is set to record the number of exceptions (the real-time mapping cycle interval is about 200 milliseconds). When the number of consecutive exceptions exceeds the threshold (for example, 10 times), the fast-lio algorithm is restarted through the monitoring program to rebuild the map to improve the stability of the data. At the same time, the map data is set to lasterMap and the odometer data is set to odometry.

[0071] This embodiment is based on the perception and positioning of the environment by the drone. It improves the stability of the existing algorithm by adding an automatic status monitoring mechanism on the basis of the open source SLAM mapping fast-lio algorithm, and provides a data basis for the implementation of subsequent automatic route-based methods.

[0072] S2. Extracting the wire point cloud data, and processing the wire point cloud data to obtain the wire information.

[0073] This step specifically includes:

[0074] 1) Taking the real-time position of the UAV in the flight map as the base point, extract the intermediate point cloud data.

[0075] Taking the real-time position P0 of the drone in the lasterMap map as the base point, extract the point cloud data within the circle with a certain threshold as the radius R (for example, R = 6 meters). Use the pcl (open source point cloud algorithm library) VoxelGrid, StatisticalOutlierRemoval and other algorithms to filter and denoise to obtain the first data set, and then count the minimum and maximum elevation ranges of s1, and then extract the point cloud within the threshold (for example, 4 meters) from the highest point according to the elevation to obtain the data set s2.

[0076] 2) Extract wire objects from wire point cloud data to obtain wire point cloud data; cluster and calculate wire point cloud data to obtain wire position information and direction information.

[0077] For the data set s2 obtained in the first step, clustering is performed with a threshold value less than the wire width to obtain the clustering result clusterList. The clustering result is a list, and each list contains a group of point clouds. Then, the minimum OBB enclosing is calculated for each list object, and a condition set that meets the characteristics of the distribution network wire is constructed based on the relationship between the length of the minimum enclosing box and the length of the short side. Figure 2 As shown, OBB is a directional bounding box. The OBB of a given object is defined as the smallest cuboid that contains the object and has any direction relative to the coordinate axis.

[0078] For example, the long side of the bounding box is set to dMaxLen, and the short side is set to dMinLen. When condition 1 is met at the same time: dMaxLen>dMinLen*3; condition 2: dMaxLen>2.0; condition 3: dMinLen<1.5; finally, filter to obtain the clustering objects that meet the characteristics of the distribution network conductor, and then sort these conductor characteristic clustering objects from top to bottom in elevation, take the top conductor as the conductor that needs to fly along the line and record it in the cache table, and calculate the correlation between the position and direction of the front and rear conductors. After the conductor position and direction are less than a certain threshold (such as an angle deviation of less than 3 degrees and a position deviation of less than 3m) for multiple consecutive times (for example, three times), the conductor position information and direction information are obtained.

[0079] It can be understood that the wire point cloud data obtained in this step includes the distance between the UAV and the wire; specifically, during the flight of the UAV along the wire, the wire Figure 3 As shown, the distance between the UAV and the wire is calculated in real time, and the distance information is updated in the formal table; thus, the flight parameters of the UAV can be adjusted according to the set standard height from the wire and the standard deviation angle, so as to achieve flight adjustment of the UAV following the ups and downs of the wire and achieve flight along the line within a fixed distance range.

[0080] S3. Build a formal table based on the wire information, and repeatedly refresh and update the formal table along the line.

[0081] The aforementioned wire information is recorded in the formal table information. During actual flight, the wire position and direction in the formal table are used as a reference for flight control, thereby reducing the interference caused by abnormal fluctuating data and improving the stability of wire calculation.

[0082] S4. According to the latest official table, the flight parameters of the UAV are adjusted periodically to achieve automatic flight along the guide wire.

[0083] In this step, the yaw error of the UAV and the deviation of the wire position are periodically calculated according to the latest formal table of the current wires; based on the yaw error of the UAV and the deviation of the wire position, the yaw angle rotation speed and the rolling speed of the UAV are adjusted.

[0084] In this step, by continuously repeating step S2 and step S3, the position and direction of the wire are periodically updated, thereby achieving real-time update of the wire information in the formal table, providing reliable wire data support for flight along the line.

[0085] Specifically, when realizing automatic control of drones, for example, taking DJI drones as an example, the virtual joystick function provided in the DJI drone SDK is used, and the drone motion mode is set to speed control mode. According to the updated wire position and direction, the current drone direction yaw error angle0 and the latest wire position deviation difference dist0 are calculated at a certain time interval (such as 5 milliseconds), and a fixed forward speed (such as 2m / s) is set for the drone periodically (such as once every 5 milliseconds). Then, the yaw angle rotation speed and rolling speed are adjusted according to the (1 / 3) rate of the yaw difference and the position difference, so that the drone can continuously correct the wire direction and position, thereby realizing automatic flight of the drone along the wire.

[0086] This embodiment monitors the flight status in real time to accurately construct a flight map, and also establishes a formal table based on the guide wire information, repeatedly refreshes and updates it along the line, so as to periodically adjust the UAV flight parameters according to the latest formal table, thereby improving the UAV's autonomous flight capability and adaptability in complex environments, and has important practical application value.

[0087] S5. During the flight of the UAV, the environment around the wire is screened and filtered to track the wire and obtain wire bifurcation information;

[0088] S6. Based on the wire bifurcation information, a bifurcation flight instruction is given.

[0089] The aforementioned steps are used to provide a basis for turning when identifying and controlling the drone to turn according to the line bifurcation.

[0090] Specifically, the vertical distance point from the UAV to the wire is taken as the reference point, and the filtering boundary is constructed by extending a certain distance to the left and right of the wire's forward direction; the wire is taken as the object, and the wire point cloud data is divided into three parts, and wire extraction is performed on the two outer parts of the wire point cloud data to obtain the bifurcation position information and bifurcation direction information.

[0091] In practical applications, after obtaining the wire bifurcation information, the bifurcation flight instruction can be given by manual interaction, or the flight instruction can be automatically given according to a preset flight destination.

[0092] It can be understood that since the distribution network line is generally at a low elevation and is easily affected by the environment, there are many bifurcations. Therefore, this embodiment proposes a method for simply identifying bifurcations and automatically turning, that is, based on the formal table conductor obtained in the aforementioned steps, during the flight, the vertical distance point from the position of the drone to the position of the conductor is used as the reference point P1, and a certain distance (for example, 1.5 meters, the left and right distance must be able to include the conductor width to filter the conductor data in the forward direction) is extended to the left and right in the forward direction of the conductor to construct a filtering boundary, and the data set s2 is taken as the object, and the point cloud is divided into three parts: the middle, the left, and the right. The extraction process of the conductor data in step S2 is performed for the left and right point cloud data respectively, and the objects with conductor features are used as bifurcation data and their positions and directions are recorded, so as to obtain the bifurcation on the left and right sides.

[0093] S7, when the UAV is flying along the bifurcation position, suspend the updating of the wire information and the bifurcation information until the UAV flies a certain distance along the bifurcation position, then re-acquire the bifurcation information and update it into the formal table;

[0094] S8. Periodically adjust the flight parameters of the UAV to achieve continuous flight along the route.

[0095] Specifically, after the forward speed of the drone is given, the rolling speed is adjusted according to the position difference from the wire until the drone reaches directly above the bifurcated wire. At the same time, the update of the wire and bifurcation data in step S3 is shielded during the turning and flying to the bifurcation process to prevent the turning process from being disturbed. After flying a certain distance threshold (for example, 10 meters), the position and direction of the bifurcated wire are updated to the formal table, and the calculation of step S3 is started, thereby realizing the aircraft's continued flight along the line.

[0096] Embodiment 2

[0097] Please refer to Figure 4 , Figure 4 The present invention provides a block diagram of a device for autonomously flying a UAV along a distribution network line, which is used to implement the method for flying a UAV along a distribution network line in the above embodiment.

[0098] Specifically, the autonomous flight device of the distribution network line drone includes:

[0099] The map building unit 10 is used to monitor the flight status and build a flight map.

[0100] Specifically, the map construction unit 10 is used to:

[0101] Data collection: Use lidar / imu sensors to collect data during flight;

[0102] Mapping and positioning: Use the fast-lio algorithm to process the collected data to achieve mapping and positioning;

[0103] Rebuilding the map under anomalies: Set the global parameter Qn to record the number of anomalies. When the number of consecutive anomalies exceeds the threshold, the fast-lio algorithm is restarted to rebuild the map;

[0104] Data storage: Store the constructed map data as lasterMap and the odometer data as odometry to obtain the flight map.

[0105] Among them, fast-lio is used to realize mapping and positioning based on lidar / imu data. Since fast-lio (open source SLAM algorithm) strictly relies on feature points to realize the registration transformation between point cloud frames in the real-time mapping process based on radar point cloud, it will cause feature points not meeting the requirements in certain specific environments, resulting in mapping interruption. In view of this situation, the embodiment of the present invention proposes the following solution:

[0106] A global parameter Qn is set to record the number of exceptions (the real-time mapping cycle interval is about 200 milliseconds). When the number of consecutive exceptions exceeds the threshold (for example, 10 times), the monitoring program restarts the fast-lio algorithm to rebuild the map to improve the stability of the data. At the same time, the map data is set to lasterMap and the odometer data is set to odometry.

[0107] This embodiment is based on the perception and positioning of the environment by the drone. It improves the stability of the existing algorithm by adding an automatic status monitoring mechanism on the basis of the open source SLAM mapping fast-lio algorithm, and provides a data basis for the implementation of subsequent automatic route-based methods.

[0108] The autonomous line-flying device for a distribution network line UAV further includes a data processing unit 20, which is used to extract conductor point cloud data and process the conductor point cloud data to obtain conductor information.

[0109] Specifically, the data processing unit 20 is used for:

[0110] 1) Taking the real-time position of the UAV in the flight map as the base point, extract the intermediate point cloud data.

[0111] Taking the real-time position P0 of the drone in the lasterMap map as the base point, extract the point cloud data within the circle with a certain threshold as the radius R (for example, R = 6 meters). Use the pcl (open source point cloud algorithm library) VoxelGrid, StatisticalOutlierRemoval and other algorithms to filter and denoise to obtain the first data set, and then count the minimum and maximum elevation ranges of s1, and then extract the point cloud within the threshold (for example, 4 meters) from the highest point according to the elevation to obtain the data set s2.

[0112] 2) Extract wire objects from wire point cloud data to obtain wire point cloud data; cluster and calculate wire point cloud data to obtain wire position information and direction information.

[0113] For the data set s2 obtained in the first step, clustering is performed with a threshold value less than the wire width to obtain the clustering result clusterList. The clustering result is a list, and each list contains a group of point clouds. Then, the minimum OBB (directional bounding box, the OBB of a given object is defined as the smallest rectangular block containing the object and with any direction relative to the coordinate axis) is calculated for each list object, and a condition set that meets the characteristics of the distribution network wire is constructed according to the relationship between the length of the minimum bounding box and the length of the short side. For example: the long side of the bounding box is set to dMaxLen, and the short side is set to dMinLen. When condition 1 is met at the same time: dMaxLen>dMinLen*3; condition 2: dMaxLen>2.0; condition 3: dMinLen<1.5; finally, filter to obtain the clustering objects that meet the characteristics of the distribution network conductor, and then sort these conductor characteristic clustering objects from top to bottom in elevation, take the top conductor as the conductor that needs to fly along the line and record it in the cache table, and calculate the correlation between the position and direction of the front and rear conductors. After the conductor position and direction are less than a certain threshold (such as an angle deviation of less than 3 degrees and a position deviation of less than 3m) for multiple consecutive times (for example, three times), the conductor position information and direction information are obtained.

[0114] Then, the data processing unit constructs a formal table based on the wire information, and repeatedly refreshes and updates the formal table along the line.

[0115] The aforementioned wire information is recorded in the formal table information. During actual flight, the wire position and direction in the formal table are used as a reference for flight control, thereby reducing the interference caused by abnormal fluctuating data and improving the stability of wire calculation.

[0116] The autonomous flight device for the distribution network line UAV along the line further includes a flight control unit 30, which is used to:

[0117] According to the latest official table, the flight parameters of the drone are adjusted periodically to achieve automatic flight along the guide wire.

[0118] In this step, the yaw error of the UAV and the deviation of the wire position are periodically calculated according to the latest formal table of the current wires; based on the yaw error of the UAV and the deviation of the wire position, the yaw angle rotation speed and the rolling speed of the UAV are adjusted.

[0119] In this step, the flight control unit 30 repeatedly performs the above operations to periodically update the position and direction of the wire, thereby achieving real-time updating of the wire information in the official table, providing reliable wire data support for flight along the line.

[0120] Specifically, when realizing automatic control of drones, for example, taking DJI drones as an example, the virtual joystick function provided in the DJI drone SDK is used, and the drone motion mode is set to speed control mode. According to the position and direction of the wire sealed in this step, the current drone direction yaw error angle0 and the latest wire position deviation difference dist0 are calculated at a certain time interval (such as 5 milliseconds), and a fixed forward speed (such as 2m / s) is set for the drone periodically (such as once every 5 milliseconds), and then the yaw angle rotation speed and rolling speed are adjusted according to the (1 / 3) rate of the yaw difference and the position difference, so that the drone can continuously correct the direction and position of the wire, thereby realizing automatic flight of the drone along the wire.

[0121] Furthermore, the data processing unit 20 is also used to screen and filter the environment around the wire during the flight of the UAV to track the wire and obtain wire bifurcation information; the flight control unit 30 is also used to give bifurcation flight instructions based on the wire bifurcation information.

[0122] Specifically, the data processing unit 20 uses the vertical distance point from the drone to the wire as the reference point, and extends a certain distance to the left and right of the wire's forward direction to construct a filtering boundary; taking the wire as the object, the wire point cloud data is divided into three parts, and wire extraction is performed on the two outer parts of the wire point cloud data to obtain bifurcation position information and bifurcation direction information.

[0123] It is understandable that since the distribution network line is generally at a low elevation and is easily affected by the environment, there are many bifurcations. Therefore, this embodiment proposes a method for simply identifying bifurcations and automatically turning, that is, based on the formal table conductor obtained in the above steps, during the flight, the vertical distance point from the position of the drone to the position of the conductor is used as the reference point P1, and the forward direction of the conductor is extended to the left and right by a certain distance (for example, 1.5 meters, and the left and right distance must be able to include the conductor width to filter the conductor data in the forward direction) to construct a filtering boundary, and the data set s2 is used as the object, and the point cloud is divided into three parts: the middle, the left, and the right. The extraction process of the conductor data in step S2 is performed for the left and right point cloud data respectively, and the object with the conductor feature is used as the bifurcation data and its position and direction are recorded, so as to obtain the bifurcation situation on the left and right sides. The flight control unit 30 uses this as a basis to give a bifurcation flight instruction.

[0124] Furthermore, the data processing unit 20 is also used to: suspend the updating of the wire information and the bifurcation information during the flight of the UAV along the bifurcation position, until the UAV flies a certain distance along the bifurcation position, and then re-acquire the bifurcation information and update it into the formal table; the flight control unit 30 is also used to: periodically adjust the flight parameters of the UAV to achieve continued flight along the line.

[0125] Specifically, after the forward speed of the drone is given, the rolling speed is adjusted according to the position difference from the wire until the drone reaches directly above the bifurcated wire. At the same time, the wire and bifurcation data update in step S3 is shielded during the turning and flying to the bifurcation process to prevent the turning process from being disturbed. After flying a certain distance threshold (for example, 10 meters), the position and direction of the bifurcated wire are updated to the formal table in step S3, and the calculation of step S3 is started, thereby realizing the aircraft's continued flight along the line.

[0126] Embodiment 3

[0127] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the method for flying a network distribution drone along a line as described in any one of the above items is implemented.

[0128] Embodiment 4

[0129] The present invention also provides a storage medium containing computer executable instructions, and the computer executable instructions are executed by a computer processor to implement the method for flying a network distribution drone along a line as described in any of the above items.

[0130] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A method for flying a network distribution drone along a line, It is characterized in that include: Monitor flight status and build flight maps; Extracting wire point cloud data, and processing the wire point cloud data to obtain wire information; Building a formal table based on the wire information, and repeatedly refreshing and updating the formal table along the line; According to the latest official table, the flight parameters of the drone are adjusted periodically to achieve automatic flight along the guide wire.

2. The method for flying a network distribution UAV along a line according to claim 1, It is characterized in that Also includes: During the flight of the drone, the environment around the wire is screened and filtered to track the wire and obtain wire bifurcation information; Based on the wire bifurcation information, a bifurcation flight instruction is given.

3. The method for flying a network distribution drone along a line according to claim 2, It is characterized in that After the given forked flight instruction, it also includes: When the UAV is flying along the bifurcation position, the update of the wire information and bifurcation information is suspended; After the drone flies a certain distance along the bifurcation position, it re-acquires the bifurcation information and updates it to the official table; Periodically adjust the flight parameters of the drone to enable continued flight along the route.

4. The method for flying a network distribution UAV along a line according to claim 3, It is characterized in that The monitoring of the flight status and building of the flight map include: Data collection: Use lidar / imu sensors to collect data during flight; Mapping and positioning: Use the fast-lio algorithm to process the collected data to achieve mapping and positioning; Rebuilding the map under anomalies: Set the global parameter Qn to record the number of anomalies. When the number of consecutive anomalies exceeds the threshold, the fast-lio algorithm is restarted to rebuild the map; Data storage: Store the constructed map data as lasterMap and the odometer data as odometry to obtain the flight map.

5. The method for flying a network distribution UAV along a line according to claim 3, It is characterized in that The extracting of the conductor point cloud data and processing the conductor point cloud data to obtain the conductor information include: Taking the real-time position of the UAV in the flight map as the base point, extract the intermediate point cloud data; Extracting wire objects from the wire point cloud data to obtain wire point cloud data; The wire point cloud data is clustered and calculated to obtain wire position information and direction information.

6. The method for flying a network distribution UAV along a line according to claim 3, It is characterized in that According to the latest official table, the flight parameters of the drone are adjusted periodically, including: According to the latest official table of wires, the yaw error of the UAV and the deviation of the wire position are calculated periodically; Based on the yaw difference of the UAV direction and the wire position deviation difference, the yaw angle rotation speed and the rolling speed of the UAV are adjusted.

7. The method for flying a network distribution UAV along a line according to claim 3, It is characterized in that The screening and filtering of the environment around the wire to track the wire and obtain wire bifurcation information includes: Take the vertical distance point from the drone to the wire as the reference point, and expand a certain distance to the left and right of the wire's forward direction to construct the filtering boundary; Taking the wire as the object, the wire point cloud data is divided into three parts, and wire extraction is performed on the two outer parts of the wire point cloud data to obtain the bifurcation position information and bifurcation direction information.

8. A distribution network line drone autonomous flight device, It is characterized in that The method for implementing the flight of a network distribution UAV along a line as claimed in any one of claims 1 to 7 comprises: A map building unit, used to monitor the flight status and build a flight map; A data processing unit, for extracting conductor point cloud data, processing the conductor point cloud data to obtain conductor information; and constructing a formal table based on the conductor information, repeatedly refreshing and updating the formal table along the line; The flight control unit is used to periodically adjust the flight parameters of the drone according to the latest official table to achieve automatic flight along the guide wire.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the method for flying a network distribution drone along a line as described in any one of claims 1 to 7 is implemented.

10. A storage medium containing computer executable instructions, It is characterized in that The computer executable instructions are executed by a computer processor to implement the method for flying a network distribution drone along a line as described in any one of claims 1 to 7.

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