Unmanned aerial vehicle networking control system for electric power patrol

Abstract

The invention belongs to the field of unmanned aerial vehicle control, and discloses an unmanned aerial vehicle networking control system for electric power patrol, which comprises a flight control center and an unmanned aerial vehicle, the flight control center is used for distributing the unmanned aerial vehicles into a preset number of working groups before the unmanned aerial vehicles take off; each working group comprises a management unmanned aerial vehicle and a plurality of working unmanned aerial vehicles; the flight height of the management unmanned aerial vehicle is greater than that of the working unmanned aerial vehicle. And the management unmanned aerial vehicle is also used for judging whether the auxiliary management unmanned aerial vehicle needs to be added or canceled in the working group where the management unmanned aerial vehicle is located by adopting a self-adaptive judgment interval. According to the invention, the waiting time when the working unmanned aerial vehicle sends the data can be reduced, so that the patrol data collected by the working unmanned aerial vehicle can be transmitted to the flight control center more timely, the probability of occurrence of an event that the communication delay between the working unmanned aerial vehicle and the flight control center is too large is reduced, and the patrol efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control, and in particular to a networked unmanned aerial vehicle control system for power inspection. Background Art

[0002] When there is a lack of 4G, 5G and other networks, and drones need to be networked, communication between drones can only be achieved through self-networking. Using drone networking technology to batch control drones to inspect power equipment has the following advantages: on the one hand, it can realize the inspection of power equipment in a larger range at the same time, and on the other hand, it can effectively improve the efficiency of inspection. As a common structure of drones, the hierarchical structure is also often used in the networking control process of inspecting power equipment. When using the hierarchical structure as the structure of drone networking, drones need to be divided into management drones and working drones. The management drone is responsible for communicating with the working drones in the same group and sending the received data to the flight control center or another management drone, while the working drone is responsible for photographing the power equipment responsible for inspection, and then transmitting the obtained data to the corresponding management drone.

[0003] When establishing a hierarchical structure, the number of management drones responsible for relaying communications is usually specified in advance. However, since the positions of drones often change, after a long period of network flight, the number of working drones in the group may change significantly, resulting in excessive communication delays between the working drones in some groups with a large number of working drones and the flight control center, which is not conducive to the flight control center receiving images taken by the working drones in a timely manner and timely judging whether the status of the power equipment is normal, thereby affecting the efficiency of patrolling the power equipment. Summary of the invention

[0004] The purpose of the present invention is to disclose a UAV networking control system for power inspection, so as to solve the problem of how to more reasonably obtain the number of management UAVs in the process of inspecting power equipment using UAV networking technology, thereby reducing the probability of occurrence of excessive communication delay between working UAVs and flight control center.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] The present invention provides a UAV networking control system for power inspection, comprising a flight control center and a UAV;

[0007] The flight control center is used to divide the drones into a preset number of working groups before they take off; each working group contains a management drone and multiple working drones;

[0008] The flying altitude of the management drone is higher than that of the working drone;

[0009] The working drone is used to inspect the power equipment according to the pre-set inspection strategy, obtain the inspection data, and send the inspection data and status data to the management drone;

[0010] Management drones are used to send inspection data to the flight control center;

[0011] The management drone is also used to use an adaptive judgment interval to determine whether the work group it belongs to needs to add or cancel a deputy management drone;

[0012] If a deputy management drone needs to be added, the management drone selects a deputy management drone from its own work group based on the status data sent by the working drone, and sends a first notification message to the working drones in the work group;

[0013] If the deputy management drone needs to be cancelled, the management drone sends a second notification message to the deputy management drone and the working drones in the working group.

[0014] After receiving the first notification information, the secondary management drone increases its altitude to the flight altitude of the management drone;

[0015] After receiving the second notification information, the secondary management drone lowers its altitude to the flight altitude of the working drone;

[0016] After receiving the first notification information, the working drone selects a receiving object from the management drone and the deputy management drone when it needs to send the inspection data and status data, and sends the inspection data and status data to the receiving object;

[0017] After receiving the inspection data and status data, the deputy management UAV sends the inspection data to the flight control center and sends the status data to the management UAV;

[0018] After receiving the second notification information, when the working drone needs to send inspection data and status data, the management drone will be used as the receiving object.

[0019] Preferably, the drones are divided into a preset number of working groups, including:

[0020] Let N represent the total number of drones and M represent the preset number of working groups. Then, in each working group, the number of working drones is like The excess The drones are evenly distributed to the randomly selected in a working group.

[0021] Preferably, the power equipment is inspected according to a pre-set inspection strategy, including:

[0022] The working drone selects the inspection number of the power equipment closest to itself from the set of inspection numbers of the power equipment that needs to be inspected; and sends the inspection number of the power equipment to the management drone;

[0023] After arriving at the power equipment closest to it, the working drone takes a photo of the power equipment to obtain an inspection image of the power equipment;

[0024] After the inspection image is acquired, the working drone deletes the inspection number of the electric power equipment from the set of inspection numbers of the electric power equipment that needs to be inspected;

[0025] The management drone sends the inspection number of the power equipment to other working drones in the working group;

[0026] After receiving the inspection number of the electric power equipment, other working drones delete the inspection number of the electric power equipment from the set of inspection numbers of the electric power equipment that needs to be inspected.

[0027] Preferably, the inspection data includes inspection images obtained by photographing the power equipment that needs to be inspected.

[0028] Preferably, the status data includes the remaining power of the working drone and the flight speed of the working drone.

[0029] Preferably, the inspection data is sent to the flight control center, including:

[0030] The management drone determines whether the distance between itself and the flight control center is greater than its maximum communication distance. If so, it selects an element from the set of management drones and deputy management drones whose distance from itself is less than or equal to its maximum communication distance as the target for receiving patrol data according to the set communication rules, and sends the patrol data to the target.

[0031] Preferably, an adaptive judgment interval is used to judge whether the working group to which the working group belongs needs to add or cancel a deputy management drone, including:

[0032] After the previous judgment interval ends, the management drone starts calculating the next judgment interval and starts judging whether the work group it belongs to needs to add or cancel a deputy management drone. After the next judgment interval calculation is completed and the process of judging whether the work group it belongs to needs to add or cancel a deputy management drone ends, the next judgment interval begins;

[0033] Use T k and T k-1represents the kth and k-1th judgment intervals; then the calculation function of the k+1th judgment interval is as follows:

[0034]

[0035] N k and N k-1 represents the number of working drones that meet the screening rules within the communication range of the management drone at the end of the kth and k-1th judgment intervals, respectively, t s is the setting change duration, and Nthre represents the quantity threshold.

[0036] Preferably, judging whether the working group to which the user belongs needs to add or cancel a deputy management drone includes:

[0037] M represents the number of working drones included in the working group before takeoff;

[0038] If MN k ≥Nthre and there is a deputy management drone in the work group, it means that the deputy management drone needs to be cancelled;

[0039] If N k -M≥Nthre and there is no deputy management drone in the working group, it means that a deputy management drone needs to be added.

[0040] Preferably, the confirmation process of the working drones that meet the screening rules includes:

[0041] When the kth judgment interval ends, a set Z1 of working drones whose distance to the management drone is less than the maximum communication distance of the management drone and which are in the same working group as the management drone is obtained;

[0042] Calculate the screening value of each working drone in set Z1 respectively;

[0043] The working drones whose screening values ​​are greater than the set screening value threshold are regarded as working drones that meet the screening rules.

[0044] Preferably, the calculation function of the screening value is:

[0045]

[0046] chscoef b Indicates the screening value of the working drone b, sigite max It represents the maximum value of the signal strength of all working drones received by the management drone during the time period corresponding to the kth judgment interval, sigite b Indicates the maximum value of the signal strength of the signal received by the management drone b during the time period corresponding to the kth judgment interval, numb represents the total number of communications between the working drone b and the management drone during the time period corresponding to the kth judgment interval, sigite b,i It represents the signal strength of the signal emitted by the working UAV when the working UAV communicates with the management UAV for the i-th time during the time period corresponding to the k-th judgment interval, num max It represents the maximum value of the total number of communications between the working drone and the management drone in the time period corresponding to the kth judgment interval in the working group where the management drone is located. α1, α2 and α3 represent the first signal calculation factor, the second signal calculation factor and the communication number factor respectively.

[0047] Beneficial effects:

[0048] Compared with the method of specifying the number of management drones in the prior art, in addition to maintaining a number of management drones equal to the originally set working group in the initial stage of drone networking flight, the present invention can determine whether it is necessary to add sub-management drones or cancel sub-management drones based on the actual number of working drones during the continuous networking flight of drones. In this way, it is possible to achieve a change in the number of drones actually used to manage the working drones without significantly changing the original control strategy. When the number of working drones in the working group shows an increasing trend and the increase reaches a certain level, it is determined that sub-drones need to be added, so that the working drones in the same working group can have more optional data transmission targets, reducing the waiting time for the working drones to send data, so that the inspection data collected by the working drones can be transmitted to the flight control center more promptly, thereby reducing the probability of excessive communication delay between the working drones and the flight control center.

[0049] When the number of working drones shows a decreasing trend and the number of decreases reaches a certain level, it is determined that the sub-management drones need to be cancelled, so that the number of working drones used for inspections can be increased, thereby improving the efficiency of inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 The present invention is a schematic diagram of a UAV networking control system for power inspection. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0053] like Figure 1 In one embodiment shown, the present invention provides a UAV networking control system for power inspection, including a flight control center and a UAV;

[0054] The flight control center is used to divide the drones into a preset number of working groups before they take off; each working group contains a management drone and multiple working drones;

[0055] The flying altitude of the management drone is higher than that of the working drone;

[0056] The working drone is used to inspect the power equipment according to the pre-set inspection strategy, obtain the inspection data, and send the inspection data and status data to the management drone;

[0057] Management drones are used to send inspection data to the flight control center;

[0058] The management drone is also used to use an adaptive judgment interval to determine whether the work group it belongs to needs to add or cancel a deputy management drone;

[0059] If a deputy management drone needs to be added, the management drone selects a deputy management drone from its own work group based on the status data sent by the working drone, and sends a first notification message to the working drones in the work group;

[0060] If the deputy management drone needs to be cancelled, the management drone sends a second notification message to the deputy management drone and the working drones in the working group.

[0061] After receiving the first notification information, the secondary management drone increases its altitude to the flight altitude of the management drone;

[0062] After receiving the second notification information, the secondary management drone lowers its altitude to the flight altitude of the working drone;

[0063] After receiving the first notification information, the working drone selects a receiving object from the management drone and the deputy management drone when it needs to send the inspection data and status data, and sends the inspection data and status data to the receiving object;

[0064] After receiving the inspection data and status data, the deputy management UAV sends the inspection data to the flight control center and sends the status data to the management UAV;

[0065] After receiving the second notification information, when the working drone needs to send inspection data and status data, the management drone will be used as the receiving object.

[0066] In addition to maintaining the same number of management drones as the originally set working group in the initial stage of drone networking flight, the above drone networking control method can determine whether it is necessary to add or cancel a deputy management drone based on the actual number of working drones during the continuous drone networking flight. In this way, the number of drones actually used to manage the working drones can be changed without significantly changing the original control strategy. When the number of working drones in the working group shows an increasing trend and the increased number reaches a certain level, it is determined that a deputy drone needs to be added, so that the working drones in the same working group can have more optional data transmission targets, reducing the waiting time when the working drones send data, so that the inspection data collected by the working drones can be transmitted to the flight control center more timely, thereby reducing the probability of the occurrence of excessive communication delay between the working drones and the flight control center. When the number of working drones shows a decreasing trend and the reduced number reaches a certain level, it is determined that the deputy management drone needs to be cancelled, so that the number of working drones used for inspection can be increased, thereby improving the efficiency of inspection.

[0067] Specifically, after the flight control center determines the management drones and the number of management drones in each working group before takeoff, it controls the takeoff of the drones in each working group in turn, thereby realizing the takeoff control of the drones.

[0068] When recovering the drone, the landing of the drone is also controlled according to the working group.

[0069] By setting up a working group, it can be avoided that the working drones are too dispersed, resulting in some power equipment that needs to be inspected not being inspected.

[0070] Specifically, the first notification information is used to notify the working drones in the working group that a secondary working drone has been added to the working group, and the first notification information includes the number of the secondary management drone.

[0071] Specifically, the second notification information is used to notify the working drones in the working group that the secondary working drone has been cancelled in the working group, and the second notification information includes the number of the secondary management drone.

[0072] Specifically, the flight altitude of the management drone is more than 50 meters higher than the flight altitude of the working drone.

[0073] Preferably, the flight altitude of the management drone is 100 meters and the flight altitude of the working drone is 10 meters.

[0074] Specifically, the above altitude is the flight altitude when there are no obstacles. When there is an obstacle ahead in the flight direction, the obstacle can be avoided by temporarily increasing the flight altitude.

[0075] Preferably, the drones are divided into a preset number of working groups, including:

[0076] Let N represent the total number of drones and M represent the preset number of working groups. Then, in each working group, the number of working drones is like The excess The drones are evenly distributed to the randomly selected in a working group.

[0077] Since NM may not be exactly divisible by M, the present invention randomly adds the extra drones into some working groups, and only one drone is added to each of these working groups.

[0078] Preferably, during the flight, the working drone continuously monitors the strength of signals emitted by all management drones within its own range. If the strength of the signal emitted by the management drone of another working group is greater than the strength of the signal emitted by the management drone of the working group to which the working drone itself belongs for V consecutive times, the working drone sends a notification of joining the working group to the management drone of the other working group. After receiving the notification, the management drone of the other working group adds the number of the working drone to the set of working drone numbers stored in itself.

[0079] Preferably, during the flight, the management drone also continuously monitors the signal strength of the working drones within its own range. If a working drone does not send a signal after V consecutive monitorings, the management drone deletes the working drone from the set of working drone numbers stored in its own storage.

[0080] The above control method can avoid storing working drones that have left the working group in the collection, thereby affecting the process of selecting the deputy management drone.

[0081] Preferably, the power equipment is inspected according to a pre-set inspection strategy, including:

[0082] The working drone selects the inspection number of the power equipment closest to itself from the set of inspection numbers of the power equipment that needs to be inspected; and sends the inspection number of the power equipment to the management drone;

[0083] After arriving at the power equipment closest to itself, the working drone takes a photo of the power equipment to obtain an inspection image of the power equipment, that is, an image of the surface of the power equipment;

[0084] After the inspection image is acquired, the working drone deletes the inspection number of the electric power equipment from the set of inspection numbers of the electric power equipment that needs to be inspected;

[0085] The management drone sends the inspection number of the power equipment to other working drones in the working group;

[0086] After receiving the inspection number of the electric power equipment, other working drones delete the inspection number of the electric power equipment from the set of inspection numbers of the electric power equipment that needs to be inspected.

[0087] Specifically, before taking off, each group of working drones stores a set of inspection numbers of power equipment that need to be inspected, which are sent by the flight control center.

[0088] Specifically, when the set of power equipment that needs to be inspected is an empty set, the management drone sends a return notification to the working drones and / or deputy management drones in the working group. After receiving the return notification, the drones and / or deputy management drones return to the direction of the flight control center.

[0089] Preferably, the management drone A is further used to send the inspection number of the power equipment to the management drones of other working groups, and the management drones of other working groups send the inspection number of the power equipment to the working drones in the working group;

[0090] After receiving the inspection number, the working drones of other working groups delete the inspection number from the set of inspection numbers of the power equipment that needs to be inspected.

[0091] The selection of the inspection target of the present invention is not specified in advance, because this will increase the workload. Instead, the present invention adopts a competitive method to determine the inspection target, and the inspection target is automatically allocated between the drones.

[0092] Preferably, the inspection data includes inspection images obtained by photographing the power equipment that needs to be inspected.

[0093] The inspection number and coordinates of the power equipment that needs to be inspected are input into the drone in advance by the operation and maintenance personnel of the power equipment.

[0094] Preferably, the status data includes the remaining power of the working drone and the flight speed of the working drone.

[0095] Preferably, the status data also includes the moving angle of the working drone.

[0096] When the working drone communicates with the management drone or the deputy management drone, the status data is sent to the management drone or the deputy management drone. In this way, the management drone can obtain the status of the management drones in the working group in a relatively timely manner.

[0097] Preferably, the inspection data is sent to the flight control center, including:

[0098] The management drone determines whether the distance between itself and the flight control center is greater than its maximum communication distance. If so, it selects an element from the set of management drones and deputy management drones whose distance from itself is less than or equal to its maximum communication distance as the target for receiving patrol data according to the set communication rules, and sends the patrol data to the target.

[0099] Since the flight control center may exceed the communication radius of the management drone, at this time, the management drone can only communicate with the flight control center through the management drones in other working groups for communication relay.

[0100] Preferably, selecting an element as a target for receiving patrol data according to a set communication rule includes:

[0101] Use S c represents the set of management drones and deputy management drones whose distance to management drone c is less than or equal to its maximum communication distance;

[0102] Manage drone c from S c The element closest to the flight control center is selected as the target for receiving patrol data.

[0103] Specifically, when the management drones and deputy management drones of different working groups communicate with each other, they will attach their own coordinates during the communication process. In this way, the data receiver can obtain the distance between the data sender and the flight control center based on the coordinates.

[0104] Preferably, when the secondary management UAV sends the inspection data to the flight control center, it is sent in the same manner as the management UAV, and a repeated description is not given here.

[0105] Preferably, an adaptive judgment interval is used to judge whether the working group to which the working group belongs needs to add or cancel a deputy management drone, including:

[0106] After the previous judgment interval ends, the management drone starts calculating the next judgment interval and starts judging whether the work group it belongs to needs to add or cancel a deputy management drone. After the next judgment interval calculation is completed and the process of judging whether the work group it belongs to needs to add or cancel a deputy management drone ends, the next judgment interval begins;

[0107] Use T k and T k-1 represents the kth and k-1th judgment intervals; then the calculation function of the k+1th judgment interval is as follows:

[0108]

[0109] N k and N k-1 represents the number of working drones that meet the screening rules within the communication range of the management drone at the end of the kth and k-1th judgment intervals, respectively, t s is the setting change duration, and Nthre represents the quantity threshold.

[0110] The present invention does not use a fixed judgment interval to determine whether to add or cancel a management drone, because this will lead to a higher probability of the occurrence of an untimely addition of a sub-management drone or an overly rapid cancellation of a sub-management drone. Therefore, the present invention calculates the judgment interval by the change in the number of working drones that meet the screening rules. When the number of drones that meet the screening rules changes too much in the two most recent judgment intervals, the present invention will appropriately reduce the judgment interval to achieve timely control of the sub-management drone. Otherwise, the present invention will extend the judgment interval to reduce the power consumption of the working drone. When |N k-1 -N k |≥Nthre, the change range of the judgment interval of the present invention is positively correlated with the change range of the number of drones that meet the screening rules in the two most recent judgment intervals, and the change range of the judgment interval can increase with the increase of the change range of the number of drones that meet the screening rules. k-1 -N k |<Nthre, it is negatively correlated. Therefore, the determination interval acquisition method of the present invention can be closely related to the actual change of the working drone, and can respond to the change of the working drone in time.

[0111] Preferably, the judgment interval has a set maximum value and minimum value. When the calculated judgment interval is less than the minimum value, the minimum value replaces the calculated judgment interval as the next judgment interval. When the calculated judgment interval is greater than the maximum value, the maximum value replaces the calculated judgment interval as the next judgment interval.

[0112] This setting method can avoid the situation where the judgment interval is too large or too small. If the judgment interval is too small or too large, it cannot be restored to a reasonable judgment interval in time, resulting in the addition or cancellation of the deputy management drone too early or too late, causing unnecessary waste of electricity or affecting the efficiency of the inspection.

[0113] Preferably, the setting change duration is 5 minutes.

[0114] Preferably, the quantity threshold is one fifth of the number of initial working drones of the working group.

[0115] Preferably, judging whether the working group to which the user belongs needs to add or cancel a deputy management drone includes:

[0116] M represents the number of working drones included in the working group before takeoff;

[0117] If MN k ≥Nthre and there is a deputy management drone in the work group, it means that the deputy management drone needs to be cancelled;

[0118] If N k -M≥Nthre and there is no deputy management drone in the working group, it means that a deputy management drone needs to be added.

[0119] When N k - If there is any other relationship between M and Nthre, the current status of the deputy management drone will remain unchanged. If there is already a deputy management drone, it will be retained. If not, it will not be added.

[0120] Preferably, the confirmation process of the working drones that meet the screening rules includes:

[0121] When the kth judgment interval ends, a set Z1 of working drones whose distance to the management drone is less than the maximum communication distance of the management drone and which are in the same working group as the management drone is obtained;

[0122] Calculate the screening value of each working drone in set Z1 respectively;

[0123] The working drones whose screening values ​​are greater than the set screening value threshold are stored as working drones that meet the screening rules in the set Z2 of working drones that meet the screening rules.

[0124] Since the working drones are constantly changing, if only the latest data is used as the basis for calculating the judgment interval, it is obvious that this will easily result in a judgment interval that is not in line with the actual situation. Therefore, the present invention selects working drones that have a close relationship with the management drone through screening values, and uses this to calculate the judgment interval. Since it is calculated based on data that is relatively less prone to mutation, the calculated judgment interval is more accurate.

[0125] Preferably, the calculation function of the screening value is:

[0126]

[0127] chscoef b Indicates the screening value of the working drone b, sigite max It represents the maximum value of the signal strength of all working drones received by the management drone during the time period corresponding to the kth judgment interval, sigite b Indicates the maximum value of the signal strength of the signal received by the management drone b during the time period corresponding to the kth judgment interval, num b represents the total number of communications between the working drone b and the management drone during the time period corresponding to the kth judgment interval, sigite b,i It represents the signal strength of the signal emitted by the working UAV when the working UAV communicates with the management UAV for the i-th time during the time period corresponding to the k-th judgment interval, num max It represents the maximum value of the total number of communications between the working drone and the management drone in the time period corresponding to the kth judgment interval in the working group where the management drone is located. α1, α2 and α3 represent the first signal calculation factor, the second signal calculation factor and the communication number factor respectively.

[0128] The screening value threshold of the present invention is obtained by comprehensive calculation from three aspects: the maximum value of the signal strength, the fluctuation of the signal strength, and the total number of communications. The screening value can more effectively represent the stability of the relationship between the working drone and the management drone. The larger the maximum value of the signal strength, the smaller the fluctuation of the signal strength, and the larger the total number of communications, the larger the screening value. The screening value calculated in this way can more accurately represent the stability of the relationship between the working drone and the management drone than a single indicator. This is conducive to improving the accuracy of the judgment interval calculated by the present invention and selecting a more accurate deputy management drone when it is necessary to add a deputy management drone.

[0129] Preferably, the first signal calculation factor, the second signal calculation factor and the communication number factor are respectively and

[0130] Preferably, the screening value threshold is

[0131] Preferably, selecting a secondary management drone from the working group to which the working drone belongs based on the status data sent by the working drone includes:

[0132] Based on the status data sent by the working drones in set Z2, the selection value of each working drone in Z2 is calculated respectively;

[0133] The working drone with the largest value will be selected as the deputy management drone.

[0134] The present invention does not select the sub-management drone from all the working drones, but only selects from Z2. This can avoid selecting a working drone whose position relationship with the management drone is not stable enough as a sub-management drone, which affects the management effect of the sub-management drone on the working drones.

[0135] Preferably, the calculation function of the selection value is:

[0136]

[0137] selcoef b Indicates the selection value of the working drone b, elesur b Indicates the latest value of the remaining battery percentage of the working drone b, eleful indicates the remaining battery percentage of the working drone b before takeoff, distvir b represents the distance between the working drone b and the virtual center of the working group, distvir max represents the maximum distance between all working drones of the working group and the virtual center of the working group, numadj b It represents the number of working drones in the same working group whose distance to working drone b is less than one tenth of the maximum communication distance of drone b. numgroup represents the total number of working drones in Z2. β1, β2 and β3 represent the remaining power calculation factor, distance calculation factor and quantity calculation factor respectively.

[0138] In addition to considering the remaining power percentage, the selection value of the present invention also takes into account the situation that the position of the drone is constantly changing, and adds the calculation of the distance between the working drone and the virtual center, as well as the number of other working drones within a certain distance around the working drone, so as to select a deputy management drone that can bring better management effects to the drones in the working group. Specifically, when the remaining power percentage of the working drone is greater, the distance between it and the virtual center is closer, and the number of other working drones within a certain distance is greater, the selection value is greater.

[0139] When other conditions are the same, the more other working drones there are within a certain distance, the larger the screening value will be. This will help reduce the probability of communication conflicts between adjacent working drones, thereby reducing the probability of working drones having to wait for a long time to send data.

[0140] The introduction of the virtual center can select a management drone and a deputy management drone based on the real-time changes in the drone's position during the networking process. When selecting a management drone, the working drone closest to the real control center in the working group will be used as the deputy management drone. In this way, the deputy management drone does not need to fly too long a distance to reach the control center, effectively reducing the power consumption of the deputy management drone.

[0141] Preferably, the remaining power calculation factor, the distance calculation factor and the quantity calculation factor are respectively and

[0142] Preferably, when the working drone sends data to the management drone or the deputy management drone, it will attach its own coordinates.

[0143] Preferably, the coordinates of the virtual center are calculated as follows:

[0144] Calculate the average coordinates x of the X-axis and Y-axis of the working drone in Z2 respectively ave,z2 and ave,z2 ; The X axis is due east, and the Y axis is due north;

[0145] Let v represent the average moving speed of the working drones in Z2;

[0146] Let θ represent the average moving angle of the working drone in Z2;

[0147] The moving angle is the angle between the flight direction of the working UAV and the east direction that is less than 180°;

[0148] If the average moving angle is in the first quadrant, the X-axis coordinate of the virtual center is x vir =x ave,z2 +v×t×cosθ; the Y-axis coordinate of the virtual center is y vir =y ave,z2 +v×t×sinθ;

[0149] If the average moving angle is in the fourth quadrant, the X-axis coordinate of the virtual center is x vir =x ave,z2 +v×t×cosθ; the Y-axis coordinate of the virtual center is y vir =y ave,z2 -v×t×sinθ;

[0150] If the average moving angle is in the second quadrant, the X-axis coordinate of the virtual center is x vir =x ave,z2 -v×t×cos(180°-θ); the Y-axis coordinate of the virtual center is y vir =y ave,z2+v×t×sin(180°-θ);

[0151] If the average moving angle is in the third quadrant, the X-axis coordinate of the virtual center is x vir =x ave,z2 -v×t×sin(θ-90°); the Y-axis coordinate of the virtual center is y vir =y ave,z2 -v×t×cos(θ-90°);

[0152] Use z man represents the flight altitude of the management drone, then the coordinates of the virtual center are (x vir ,y vir ,z man );

[0153] t represents the length of time from the moment when the management drone last ended communication with the working drone to the moment when the management drone started calculating the coordinates of the virtual center.

[0154] Specifically, the moving speed and moving angle of the working drone can be obtained from the status data sent by the working drone.

[0155] The average moving speed and the average moving angle are calculated using the latest status data of the working drones obtained by the management drone.

[0156] The moving angle here refers to the moving angle on the plane formed by the X-axis and the Y-axis.

[0157] Specifically, after receiving the first message, the deputy management drone no longer changes the coordinates of the X-axis and the Y-axis, but directly changes its own height to the same height as the management drone, and then continues to fly.

[0158] Preferably, selecting a receiving object from between the management drone and the assistant management drone comprises:

[0159] The one with the strongest signal between the management drone and the deputy management drone is selected as the receiving object.

[0160] Specifically, when the management drone or the deputy management drone sends data, the working drones within its communication range can obtain the signal strength based on the signals it sends.

[0161] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A drone network control system for power inspection, characterized in that: Including flight control center and drone; The flight control center is used to divide the drones into a preset number of working groups before they take off; each working group contains a management drone and multiple working drones; The flying altitude of the management drone is higher than that of the working drone; The working drone is used to inspect the power equipment according to the pre-set inspection strategy, obtain the inspection data, and send the inspection data and status data to the management drone; Management drones are used to send inspection data to the flight control center; The management drone is also used to use an adaptive judgment interval to determine whether the work group it belongs to needs to add or cancel a deputy management drone; If a deputy management drone needs to be added, the management drone selects a deputy management drone from its own work group based on the status data sent by the working drone, and sends a first notification message to the working drones in the work group; If the deputy management drone needs to be cancelled, the management drone sends a second notification message to the deputy management drone and the working drones in the working group. After receiving the first notification information, the secondary management drone increases its altitude to the flight altitude of the management drone; After receiving the second notification information, the secondary management drone lowers its altitude to the flight altitude of the working drone; After receiving the first notification information, the working drone selects a receiving object from the management drone and the deputy management drone when it needs to send the inspection data and status data, and sends the inspection data and status data to the receiving object; After receiving the inspection data and status data, the deputy management UAV sends the inspection data to the flight control center and sends the status data to the management UAV; After receiving the second notification information, when the working drone needs to send inspection data and status data, the management drone will be used as the receiving object.

2. The UAV network control system for power inspection according to claim 1 is characterized in that: Assign the drones to a preset number of working groups, including: Let N represent the total number of drones and M represent the preset number of working groups. Then, in each working group, the number of working drones is like The excess The drones are evenly distributed to the randomly selected in a working group.

3. The UAV network control system for power inspection according to claim 1 is characterized in that: Inspect power equipment according to pre-set inspection strategies, including: The working drone selects the inspection number of the power equipment closest to itself from the set of inspection numbers of the power equipment that needs to be inspected; and sends the inspection number of the power equipment to the management drone; After arriving at the power equipment closest to it, the working drone takes a photo of the power equipment to obtain an inspection image of the power equipment; After the inspection image is acquired, the working drone deletes the inspection number of the electric power equipment from the set of inspection numbers of the electric power equipment that needs to be inspected; The management drone sends the inspection number of the power equipment to other working drones in the working group; After receiving the inspection number of the electric power equipment, other working drones delete the inspection number of the electric power equipment from the set of inspection numbers of the electric power equipment that needs to be inspected.

4. The UAV network control system for power inspection according to claim 1 is characterized in that: The inspection data includes inspection images obtained by photographing the power equipment that needs to be inspected.

5. The UAV network control system for power inspection according to claim 1 is characterized in that: The status data includes the remaining power of the working drone and the flight speed of the working drone.

6. The UAV network control system for power inspection according to claim 1 is characterized in that: Send inspection data to the flight control center, including: The management drone determines whether the distance between itself and the flight control center is greater than its maximum communication distance. If so, it selects an element from the set of management drones and deputy management drones whose distance from itself is less than or equal to its maximum communication distance as the target for receiving patrol data according to the set communication rules, and sends the patrol data to the target.

7. The UAV network control system for power inspection according to claim 1 is characterized in that: Adopt adaptive judgment interval to judge whether the work group needs to add or cancel the deputy management drone, including: After the previous judgment interval ends, the management drone starts calculating the next judgment interval and starts judging whether the work group it belongs to needs to add or cancel a deputy management drone. After the next judgment interval calculation is completed and the process of judging whether the work group it belongs to needs to add or cancel a deputy management drone ends, the next judgment interval begins; Use T k and T k-1 represents the kth and k-1th judgment intervals; then the calculation function of the k+1th judgment interval is as follows: N k and N k-1 represents the number of working drones that meet the screening rules within the communication range of the management drone at the end of the kth and k-1th judgment intervals, respectively, and t s is the setting change duration, and Nthre represents the quantity threshold.

8. The UAV network control system for power inspection according to claim 7 is characterized in that: Determine whether your work group needs to add or remove deputy management drones, including: M represents the number of working drones included in the working group before takeoff; If MN k ≥Nthre and there is a deputy management drone in the work group, it means that the deputy management drone needs to be cancelled; If N k - If M ≥ Nthre and there is no deputy management drone in the working group, it means that a deputy management drone needs to be added.

9. The UAV network control system for power inspection according to claim 7 is characterized in that: The confirmation process for working drones that meet the screening rules includes: When the kth judgment interval ends, a set Z1 of working drones whose distance to the management drone is less than the maximum communication distance of the management drone and which are in the same working group as the management drone is obtained; Calculate the screening value of each working drone in set Z1 respectively; The working drones whose screening values ​​are greater than the set screening value threshold are regarded as working drones that meet the screening rules.

10. The UAV network control system for power inspection according to claim 9, characterized in that: The calculation function of the filter value is: chscoef b Indicates the screening value of the working drone b, sigite max It represents the maximum value of the signal strength of all working drones received by the management drone during the time period corresponding to the kth judgment interval. b Indicates the maximum value of the signal strength of the signal received by the management drone b during the time period corresponding to the kth judgment interval, num b represents the total number of communications between the working drone b and the management drone during the time period corresponding to the kth judgment interval, sigite b,i It represents the signal strength of the signal emitted by the working UAV when the working UAV communicates with the management UAV for the i-th time during the time period corresponding to the k-th judgment interval, num max It represents the maximum value of the total number of communications between the working drone and the management drone in the time period corresponding to the kth judgment interval in the working group where the management drone is located. α1, α2 and α3 represent the first signal calculation factor, the second signal calculation factor and the communication number factor respectively.

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