An unmanned aerial vehicle networking control system for power inspection

Abstract

The present invention belongs to the field of UAV control, and discloses a UAV networking control system for power inspection, which includes a flight control center and UAVs; the flight control center is used to divide the UAVs into preset numbers of working groups before the UAVs take off; each working group includes one management UAV and multiple working UAVs; the flight altitude of the management UAV is greater than that of the working UAVs. The management UAV is also used to judge whether the working group where it is located needs to add or cancel a deputy management UAV at an adaptive judgment interval. It can reduce the waiting time when the working UAVs send data, so that the inspection data collected by the working UAVs can be transmitted to the flight control center more timely, thereby reducing the occurrence probability of events with excessive communication delay between the working UAVs and the flight control center and improving the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) control, and particularly to a UAV networking control system for power inspection. Background Art

[0002] When there is a lack of networks such as 4G and 5G and UAVs need to form a network, the communication between UAVs can only be achieved based on the self-organizing network method. Using the UAV networking technology to batch control UAVs for power equipment inspection has the following advantages: on the one hand, it can achieve the inspection of power equipment in a relatively large area at the same time, and on the other hand, it can effectively improve the inspection efficiency. The hierarchical structure, as a common structure of UAVs, is also often used in the networking control process of power equipment inspection. When using the hierarchical structure as the UAV networking structure, the UAVs need to be divided into management UAVs and working UAVs. The management UAVs are responsible for communicating with the working UAVs in the same group and sending the received data to the flight control center or another management UAV, while the working UAVs are responsible for taking pictures of the power equipment to be inspected and then transmitting the obtained data to the corresponding management UAV.

[0003] When establishing the hierarchical structure, the number of management UAVs responsible for relay communication is usually specified in advance. Since the positions of UAVs often change, after a long time of networking flight, due to the possible large change in the number of working UAVs in the group, the communication delay between the working UAVs in some groups with a large number of working UAVs and the flight control center becomes too large, which is not conducive to the flight control center receiving the images taken by the working UAVs in time and judging whether the state of the power equipment is normal in time, thus affecting the inspection efficiency of 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, and solve the problem of how to more reasonably obtain the number of management UAVs during the process of using the UAV networking technology to inspect power equipment, so as to reduce the occurrence probability of the event that the communication delay between the working UAVs and the flight control center is too large.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

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

[0007] The flight control center is used to divide the UAVs into a preset number of working groups before the UAVs take off; each working group includes one management UAV and multiple working UAVs;

[0008] The flight altitude of the management drone is greater than that of the working drone;

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

[0010] The management drone is used to send the inspection data to the flight control center;

[0011] The management drone is also used to judge whether the working group where it is located needs to add or cancel a deputy management drone at an adaptive judgment interval;

[0012] If a deputy management drone needs to be added, the management drone selects a deputy management drone from the working group where it is located based on the status data sent by the working drone, and sends a first notification message to the working drones within the working group;

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

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

[0015] After receiving the second notification message, the deputy management drone reduces its altitude to the flight altitude of the working drone;

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

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

[0018] After receiving the second notification message, when the working drone needs to send inspection data and status data, it takes the management drone as the receiving object.

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

[0020] Using N to represent the total number of drones and M to represent the preset number of working groups, then in each working group, the number of working drones is If Then the extra drones are evenly distributed to randomly selected

[0021] Preferably, the power equipment is inspected according to a preset 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 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 itself, the working drone takes a picture of the power equipment to obtain the inspection image of the power equipment.

[0024] After the inspection image is obtained, the working drone deletes the inspection number of the power equipment from the set of inspection numbers of the power equipment 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 power equipment, other working drones delete the inspection number of the power equipment from the set of inspection numbers of the power equipment to be inspected.

[0027] Preferably, the inspection data includes the inspection image obtained by taking pictures of the power equipment 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, sending the inspection data to the flight control center includes:

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

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

[0032] After the previous judgment interval ends, the management drone starts to calculate the next judgment interval and starts to judge whether the working group where it is located needs to add or cancel the deputy management drone. After the next judgment interval is calculated and the process of judging whether the working group where it is located needs to add or cancel the deputy management drone ends, the next judgment interval starts.

[0033] Let T k and T k-1Denote the k-th and (k - 1)-th judgment intervals; then the calculation function for the (k + 1)-th judgment interval is as follows:

[0034]

[0035] N k and N k-1 respectively represent the number of working UAVs that meet the screening rules within the communication range of the management UAV at the end of the k-th and (k - 1)-th judgment intervals, t s is the set change duration, and Nthre represents the quantity threshold.

[0036] Preferably, determining whether the working group where it is located needs to add or cancel the deputy management UAV includes:

[0037] Use M to represent the number of working UAVs included in the working group before takeoff;

[0038] If M - N k ≥ Nthre and there is a deputy management UAV in the working group, it means that the deputy management UAV needs to be cancelled;

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

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

[0041] After the end of the k-th judgment interval, obtain the set Z1 of working UAVs whose distance from the management UAV is less than the maximum communication distance of the management UAV and are in the same working group as the management UAV;

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

[0043] Regard the working UAVs with a screening value greater than the set screening value threshold as the working UAVs that meet the screening rules.

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

[0045]

[0046] chscoef b represents the screening value of the working UAV b, sigite max represents the maximum signal strength of all signals of working UAVs received by the management UAV during the time period corresponding to the k-th judgment interval, sigite b represents the maximum signal strength of the signal of the working UAV b received by the management UAV during the time period corresponding to the k-th judgment interval, numb denotes the total number of communications between the working drone b and the management drone during the time period corresponding to the k-th judgment interval, sigite b,i denotes the signal strength of the signal transmitted by the working drone during the i-th communication between the working drone and the management drone during the time period corresponding to the k-th judgment interval, num max denotes the maximum value of the total number of communications between the working drones and the management drone during the time period corresponding to the k-th judgment interval in the working group where the management drone is located. α1, α2, and α3 respectively denote the first signal calculation factor, the second signal calculation factor, and the communication times factor.

[0047] Beneficial effects:

[0048] Compared with the method of specifying the number of management drones in the prior art, in addition to maintaining the same number of management drones as the originally set working group at the initial stage of the unmanned aerial vehicle network flight, during the continuous network flight of the unmanned aerial vehicle, the present invention can judge whether it is necessary to add or cancel the deputy management drone based on the actual number of working drones. In this way, on the basis of not greatly changing the original control strategy, the change in the number of drones actually used to manage the working drones can be realized. 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 it is necessary to add deputy drones, so that the working drones in the same working group can have more optional data transmission targets, reduce 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, and thus reduce the probability of the occurrence of events with too large communication delay between the working drones and the flight control center.

[0049] When the number of working drones shows a decreasing trend and the decreased number reaches a certain level, it is determined that it is necessary to cancel the deputy management drone, so that the number of working drones used for inspection can be increased and the inspection efficiency can be improved. 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 will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0051] Figure 1 It is a schematic diagram of a network control system for an unmanned aerial vehicle for power inspection according to the present invention. Detailed implementation manners

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying 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 described and illustrated herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0053] As Figure 1 shown in an embodiment, the present invention provides an unmanned aerial vehicle networking control system for power inspection, including a flight control center and unmanned aerial vehicles;

[0054] The flight control center is used to divide the unmanned aerial vehicles into a preset number of working groups before the unmanned aerial vehicles take off; each working group includes one management unmanned aerial vehicle and multiple working unmanned aerial vehicles;

[0055] The flight altitude of the management unmanned aerial vehicle is greater than that of the working unmanned aerial vehicles;

[0056] The working unmanned aerial vehicles are used to inspect power equipment according to a preset inspection strategy, obtain inspection data, and send the inspection data and status data to the management unmanned aerial vehicle;

[0057] The management unmanned aerial vehicle is used to send the inspection data to the flight control center;

[0058] The management unmanned aerial vehicle is also used to judge whether a deputy management unmanned aerial vehicle needs to be added or cancelled in its own working group at an adaptive judgment interval;

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

[0060] If a deputy management unmanned aerial vehicle needs to be cancelled, the management unmanned aerial vehicle sends a second notification message to the deputy management unmanned aerial vehicle and the working unmanned aerial vehicles in the working group,

[0061] After receiving the first notification message, the deputy management unmanned aerial vehicle increases its altitude to the flight altitude of the management unmanned aerial vehicle;

[0062] After receiving the second notification message, the deputy management unmanned aerial vehicle reduces its altitude to the flight altitude of the working unmanned aerial vehicles;

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

[0064] After the deputy management drone receives the inspection data and status data, it sends the inspection data to the flight control center and the status data to the management drone;

[0065] After the working drone receives the second notification message, when it needs to send inspection data and status data, it uses the management drone as the receiving object.

[0066] In the above unmanned aerial vehicle networking control method, except for maintaining the same number of management drones as the originally set working group at the initial stage of the unmanned aerial vehicle networking flight, during the continuous networking flight of the unmanned aerial vehicles, it is possible to judge whether it is necessary to add or cancel the deputy management drone based on the actual number of working drones. In this way, on the basis of not greatly changing the original control strategy, it is possible to realize the change in the number of unmanned aerial vehicles actually used to manage the working drones. 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 unmanned aerial vehicle 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 events with excessive communication delay between the working drones and the flight control center. When the number of working drones shows a decreasing trend and the decreased 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, improving the inspection efficiency.

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

[0068] When recovering the drones, the drones are also controlled to land in units of working groups.

[0069] By setting the working groups, it is possible to prevent the distribution of the working drones from being too scattered, resulting in some power equipment that needs to be inspected not being inspected.

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

[0071] Specifically, the second notification message is used to notify the working drones within the working group that the deputy working drone has been cancelled within the working group, and the second notification message contains the number of the deputy management drone.

[0072] Specifically, the flight altitude of the management drone is more than 50 meters higher than that 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 in the flight direction ahead, 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 If Then the extra drones are evenly distributed to randomly selected working groups.

[0077] Since N - M may not be exactly divisible by M, for the extra drones, the present invention randomly adds them to some working groups, with each group only adding one.

[0078] Preferably, during the flight of the working drone, it continuously monitors the signal strength of all management drones within its range. If the signal strength of the management drone from another working group is continuously greater than the signal strength of the management drone of the working group where the working drone itself is located for V times, then the working drone sends a notification to join 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 the numbers of the working drones stored in itself.

[0079] Preferably, during the flight of the management drone, it also continuously monitors the signal strength of the working drones within its range. For the working drones that do not send signals after being continuously monitored V times, the management drone deletes the numbers of these working drones from the set of the numbers of the working drones stored in itself.

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

[0081] Preferably, the power equipment is inspected according to a preset 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 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 picture of the power equipment to obtain the inspection image of the power equipment, that is, the image of the surface of the power equipment.

[0084] After the inspection image is obtained, the working drone deletes the inspection number of the power equipment from the set of inspection numbers of the power equipment 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 power equipment, other working drones delete the inspection number of the power equipment from the set of inspection numbers of the power equipment to be inspected.

[0087] Specifically, before taking off, each working drone in the group stores the set of inspection numbers of the power equipment to be inspected sent by the flight control center.

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

[0089] Preferably, for the management drone A, the management drone A is also 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 to be inspected.

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

[0092] Preferably, the inspection data includes the inspection images obtained by taking pictures of the power equipment to be inspected.

[0093] The inspection numbers and coordinates of the power equipment to be inspected are input into the drones 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 further includes the moving angle of the working drone.

[0096] When the status data communicates between the working drone and the management drone or the deputy management drone, it 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 within the working group in a relatively timely manner.

[0097] Preferably, sending the inspection data to the flight control center includes:

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

[0099] Since the flight control center may be beyond the communication radius of the management drone, at this time, the management drone can only use the management drones in other working groups for communication relay to achieve communication with the flight control center.

[0100] Preferably, selecting an element as the target for receiving the inspection data according to the set communication rules includes:

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

[0102] The management drone c selects the element closest to the flight control center from S c as the target for receiving the inspection 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 according to the coordinates.

[0104] Preferably, when the deputy management drone sends the inspection data to the flight control center, it also uses the same method as the management drone for sending, and will not be described repeatedly here.

[0105] Preferably, using an adaptive judgment interval to judge whether the working group where it is located needs to add or cancel the deputy management drone includes:

[0106] After the end of the previous judgment interval, the management UAV starts to calculate the next judgment interval and begins to judge whether the working group where it is located needs to add or cancel the deputy management UAV. After the calculation of the next judgment interval is completed and the process of judging whether the working group where it is located needs to add or cancel the deputy management UAV ends, the next judgment interval starts;

[0107] Let T k and T k-1 represent the kth and (k - 1)th judgment intervals respectively; then the calculation function of the (k + 1)th judgment interval is as follows:

[0108]

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

[0110] The present invention does not use a fixed judgment interval to judge whether to add or cancel the management UAV, because this will lead to a relatively high probability of events such as untimely addition of deputy management UAVs or overly rapid cancellation of deputy management UAVs. Therefore, the present invention calculates the judgment interval based on the change situation of the working UAVs that meet the screening rules. When the change amplitude of the number of UAVs that meet the screening rules in the two most recent judgment intervals is too large, the present invention will appropriately reduce the judgment interval to achieve timely control of the deputy management UAVs. Conversely, the present invention will extend the judgment interval to reduce the power consumption of the working UAVs. When |N k-1 - N k | ≥ Nthre, the change amplitude of the judgment interval of the present invention is positively correlated with the change amplitude of the number of UAVs that meet the screening rules in the two most recent judgment intervals, and the change amplitude of the judgment interval can increase as the change amplitude of the number of UAVs that meet the screening rules increases. When |N k-1 - N k | < Nthre, it is negatively correlated. Therefore, the method for obtaining the judgment interval of the present invention can be closely related to the actual change situation of the working UAVs and can respond to the changes of the working UAVs in a timely manner.

[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 is used to replace the calculated judgment interval as the next judgment interval. When the calculated judgment interval is greater than the maximum value, the maximum value is used to replace 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 is impossible to restore to a reasonable judgment interval in time, resulting in the premature or delayed increase or cancellation of the deputy management UAV, causing unnecessary power waste or affecting the inspection efficiency.

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

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

[0115] Preferably, determining whether the working group where it is located needs to increase or cancel the deputy management UAV includes:

[0116] Let M represent the number of working UAVs included in the working group before takeoff;

[0117] If M - N k ≥ Nthre and there is a deputy management UAV in the working group, it means that the deputy management UAV needs to be cancelled;

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

[0119] When N k - M and Nthre are in other relationships, the current state of the deputy management UAV remains unchanged. If there is already a deputy management UAV, it continues to be retained; if not, no addition is made.

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

[0121] When the kth judgment interval ends, obtain the set Z1 of working UAVs whose distance from the management UAV is less than the maximum communication distance of the management UAV and are in the same working group as the management UAV;

[0122] Calculate the screening values of each working UAV in the set Z1 respectively;

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

[0124] Since the working UAVs are constantly changing, if only relying on the latest data as the calculation basis for the judgment interval, it is obvious that such a judgment interval that is not in line with the actual situation is easily obtained. Therefore, in the present invention, the working UAVs with a continuously close relationship with the management UAV are selected through the screening value, and the judgment interval is calculated based on this. Since it is calculated based on data that is relatively less likely to mutate, the calculated judgment interval is more accurate.

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

[0126]

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

[0128] The screening value threshold of the present invention is comprehensively calculated from three aspects: the maximum value of the signal strength, the fluctuation of the signal strength, and the total number of communications. This enables the screening value to more effectively represent the stability degree of the relationship between the working drone and the management drone. When the maximum value of the signal strength is larger, the fluctuation of the signal strength is smaller, and the total number of communications is larger, the screening value is larger. The screening value calculated in this way can more accurately represent the stability degree of the relationship between the working drone and the management drone than a single index. 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 times factor are respectively and

[0130] Preferably, the screening value threshold is

[0131] Preferably, selecting a deputy management drone from its own working group based on the status data sent by the working drone includes:

[0132] Calculate the selection values of each working drone in Z2 based on the status data sent by the working drones in set Z2 respectively;

[0133] Take the working drone with the largest selection value as the deputy management drone.

[0134] The present invention does not select the deputy management drone from all working drones, but only selects from Z2, which can avoid selecting a working drone with an unstable positional relationship with the management drone as the deputy management drone, affecting the management effect of the deputy management drone on the working drones.

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

[0136]

[0137] selcoef b represents the selection value of working drone b, elesur b represents the latest value of the remaining battery percentage of working drone b, eleful represents the remaining battery percentage before the takeoff of working drone b, distvir b represents the distance between working drone b and the virtual center of the working group, distvir max represents the maximum value of the distances between all working drones of the working group and the virtual center of the working group, numadj b represents the number of working drones in the same working group whose distance from 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, and β1, β2 and β3 respectively represent the remaining battery calculation factor, distance calculation factor and quantity calculation factor.

[0138] In addition to considering the remaining battery percentage, the selection value of the present invention also takes into account the situation that the position of the drone is constantly changing, adding the calculation of the distance between the working drone and the virtual center, and 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 effect to the drones in the working group. Specifically, when the remaining battery percentage of the working drone is larger, its distance from the virtual center is closer, and the number of other working drones within a certain distance is larger, then its selection value is larger.

[0139] Under the condition that other conditions are the same, when the number of other working drones within a certain distance is larger, its screening value is larger. In this way, it is beneficial to reduce the probability of communication conflicts between adjacent working drones, thereby reducing the probability of events where the working drones need to wait for a long time to send data.

[0140] When introducing the virtual center, the deputy management UAV can be selected based on the real-time position change characteristics of UAVs during the networking process. The working UAV closest to the real control center within the working group is selected as the deputy management UAV when selecting the management UAV. In this way, the deputy management UAV does not need to fly too long a distance to reach the control center, effectively reducing the power consumption of the deputy management UAV.

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

[0142] Preferably, when the working UAV sends data to the management UAV or the deputy management UAV, its own coordinates will be attached.

[0143] Preferably, the calculation method of the coordinates of the virtual center is as follows:

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

[0145] Use v to represent the average moving speed of the working UAVs in Z2;

[0146] Use θ to represent the average moving angle of the working UAVs in Z2;

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

[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] Using z man to represent the flight altitude of the managed drone, then the coordinates of the virtual center are (x vir , y vir , z man );

[0153] t represents the time length between the moment when the managed drone ended communication with the working drone most recently and the moment when the managed drone starts to calculate 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 average moving angle are calculated using the latest status data of the working drone obtained by the managed 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 the secondary managed drone receives the first message, it no longer changes the coordinates of the X-axis and the Y-axis, but directly changes its own altitude to the same as that of the managed drone, and then continues to fly.

[0158] Preferably, selecting the receiving object between the managed drone and the secondary managed drone includes:

[0159] Selecting the party with the strongest signal strength between the managed drone and the secondary managed drone as the receiving object.

[0160] Specifically, when the managed drone or the secondary managed drone sends data, the working drones within its communication range can obtain the signal strength according to the signal sent by it.

[0161] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An unmanned aerial vehicle networking control system for power inspection, characterized in that, It includes a flight control center and unmanned aerial vehicles (UAVs); The flight control center is used to divide UAVs into a preset number of working groups before the UAVs take off; each working group includes one management UAV and multiple working UAVs; The flight altitude of the management UAV is greater than that of the working UAVs; The working UAVs are used to inspect power equipment according to a preset inspection strategy, obtain inspection data, and send the inspection data and status data to the management UAV; The management UAV is used to send the inspection data to the flight control center; The management UAV is also used to judge whether the working group it belongs to needs to add or cancel a deputy management UAV at an adaptive judgment interval; If a deputy management UAV needs to be added, the management UAV selects a deputy management UAV from the working group it belongs to based on the status data sent by the working UAVs, and sends a first notification message to the working UAVs in the working group; If a deputy management UAV needs to be cancelled, the management UAV sends a second notification message to the deputy management UAV and the working UAVs in the working group; After receiving the first notification message, the deputy management UAV increases its altitude to the flight altitude of the management UAV; After receiving the second notification message, the deputy management UAV reduces its altitude to the flight altitude of the working UAVs; After receiving the first notification message, when the working UAVs need to send inspection data and status data, they select a receiving object from the management UAV and the deputy management UAV, and send 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 message, when the working UAVs need to send inspection data and status data, they take the management UAV as the receiving object; Judging whether the working group it belongs to needs to add or cancel a deputy management UAV at an adaptive judgment interval includes: After the end of the previous judgment interval, the management UAV starts to calculate the next judgment interval and starts to judge whether the working group it belongs to needs to add or cancel a deputy management UAV. After the calculation of the next judgment interval is completed and the process of judging whether the working group it belongs to needs to add or cancel a deputy management UAV is over, the next judgment interval starts; Let \(T_{ k}\) and \(T_{ k-1}\) represent the \(k\)-th and \((k - 1)\)-th judgment intervals respectively. Then the calculation function of the \((k + 1)\)-th judgment interval is as follows: k and \(T\) k-1 respectively represent the \(k\)-th and \((k - 1)\)-th judgment intervals; then the calculation function of the \((k + 1)\)-th judgment interval is as follows: N k and N k-1 respectively represent the number of working UAVs that meet the screening rules within the communication range of the management UAV at the end of the k-th and (k - 1)-th judgment intervals, where t s is the set change duration, and Nthre represents the quantity threshold; The confirmation process of the working UAVs that meet the screening rules includes: When the kth judgment interval ends, obtain the set Z1 of working UAVs whose distance from the management UAV is less than the maximum communication distance of the management UAV and are in the same working group as the management UAV; Calculate the screening value of each working UAV in the set Z1 respectively; Take the working UAVs whose screening value is greater than the set screening value threshold as the working UAVs that meet the screening rules; The calculation function of the screening value is: chscoef b Represents the screening value of the working drone b, sigite max Represents the maximum value of the signal strength of all signals of the working drones received by the management drone during the time period corresponding to the k-th judgment interval, sigite b Represents the maximum value of the signal strength of the signal of the working drone b received by the management drone during the time period corresponding to the k-th 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 k-th judgment interval, sigite b,i Represents the signal strength of the signal transmitted by the working drone during the i-th communication between the working drone and the management drone during the time period corresponding to the k-th judgment interval, num max Represents the maximum value of the total number of communications between the working drones and the management drone during the time period corresponding to the k-th 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 times factor respectively.

2. The unmanned aerial vehicle networking control system for power inspection according to claim 1, characterized in that, Dividing UAVs into a preset number of working groups includes: 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 If Then the extra drones are evenly distributed among the randomly selected working groups.

3. The unmanned aerial vehicle networking control system for power inspection according to claim 1, characterized in that, Inspecting power equipment according to a preset inspection strategy includes: The working UAV 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 UAV; After reaching the nearest power equipment to itself, the working drone takes a picture of the power equipment to obtain an inspection image of the power equipment; After the inspection image is obtained, the working drone deletes the inspection number of the power equipment from the set of inspection numbers of the power equipment that needs to be inspected; The management drone sends the inspection number of the power equipment to other working drones within the working group; After receiving the inspection number of the power equipment, other working drones delete the inspection number of the power equipment from the set of inspection numbers of the power equipment that needs to be inspected.

4. The unmanned aerial vehicle networking control system for power inspection according to claim 1, characterized in that The inspection data includes inspection images obtained by taking pictures of the power equipment that needs to be inspected.

5. The unmanned aerial vehicle networking control system for power inspection according to claim 1, wherein The status data includes the remaining power of the working drone and the flight speed of the working drone.

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

7. A drone networking control system for power inspection according to claim 1, characterized in that, Judging whether the working group where it is located needs to add or cancel the deputy management drone includes: Let M represent the number of working drones included in the working group before takeoff; If M - N k ≥ Nthre and there is a deputy management UAV in the working group, it means that the deputy management UAV needs to be cancelled; If N k -M ≥ Nthre and there is no deputy management UAV in the working group, it means that a deputy management UAV needs to be added.

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