Power transmission line inspection method and system based on unmanned aerial vehicle

Abstract

The invention discloses a power transmission line inspection method and system based on an unmanned aerial vehicle. The method specifically comprises the following steps that the unmanned aerial vehicle senses the electric field intensity of the current position in real time in the inspection process along a power transmission line; when the unmanned aerial vehicle is in the strong electric field, calculating the electric field resultant force of the current position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to inspect towards the electric field resultant force; and when the unmanned aerial vehicle enters the non-strong electric field, planning an inspection path from the current position to the target position based on an artificial potential field method, and performing inspection on the unmanned aerial vehicle in the non-strong electric field based on the currently planned inspection path. By sensing the electric field intensity of the position where the unmanned aerial vehicle is located, when it is detected that the unmanned aerial vehicle is in a strong electric field, in order to improve the safety and stability of the unmanned aerial vehicle during navigation, a strong electric field area is avoided, and the unmanned aerial vehicle is controlled to fly in the direction of electric field resultant force.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and more specifically, the present invention relates to a transmission line inspection method and system based on unmanned aerial vehicle. Background Art

[0002] With the continuous development of power systems and the continuous increase in transmission lines, the maintenance and inspection of transmission lines have become increasingly important. Traditional manual inspection methods have problems such as low efficiency, poor safety, and limited coverage. In recent years, drones have gradually been used in the inspection of transmission lines due to their flexibility, high efficiency, and wide coverage.

[0003] In a strong electric field environment, the flight stability and data collection accuracy of the drone will be seriously affected. The strong electric field around the transmission line will interfere with the electronic equipment of the drone, causing the following problems: Strong electric field interference will affect the flight control of the drone, causing flight path deviation, unstable attitude and other problems.

[0004] Therefore, how to achieve stable flight of UAVs in an electric field environment has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a transmission line inspection method based on unmanned aerial vehicle, aiming to improve the above-mentioned problems.

[0006] The present invention is implemented as follows: a transmission line inspection method based on an unmanned aerial vehicle, characterized in that the method is specifically as follows:

[0007] The drone senses the electric field strength at the current location in real time during the inspection along the transmission line;

[0008] When the drone is in a strong electric field, the electric field stress on the drone’s current position is calculated, and the drone is controlled to conduct inspections in the direction of the electric field stress.

[0009] When the UAV enters a non-strong electric field, an inspection path from the current position to the target position is planned based on the artificial potential field method, and the UAV in the non-strong electric field performs inspections based on the currently planned inspection path.

[0010] Furthermore, when the electric field strength detected by at least one electric field sensor installed on the drone is greater than a set electric field strength threshold, it is determined that the drone is currently in a strong electric field.

[0011] Furthermore, the electric field sensor is composed of an upper sensing plate, a lower sensing plate and a sampling capacitor connecting the upper sensing plate and the lower sensing plate, wherein the upper sensing plate and the lower sensing plate are used to sense the charge generated by the electric field, and the sampling capacitor is used to collect the charge on the sensing plate and convert it into a voltage signal output.

[0012] Furthermore, the potential field method plans the inspection path from the current position of the UAV to the target position based on the repulsive field function of the equivalent electric field surface of the transmission line on the UAV and the gravitational field function of the target position on the UAV.

[0013] Furthermore, the repulsive field function U of the equivalent electric field surface of the transmission line on the drone rep The expression of (q) is as follows:

[0014]

[0015] Among them, η is the proportionality coefficient, ρ(q,q obs ) is the equivalent electric field surface q of the current position of the drone from the transmission line obs The minimum distance, ρ 0 is the set distance ρ(q,q obs ) maximum value, E i is the electric field strength measured by the i-th electric field sensor, k is the influence coefficient of the electric field strength, and m is the number of electric field sensors set on the UAV.

[0016] Furthermore, the gravitational field function U att (q) as follows:

[0017]

[0018] Among them, ε is the gravitational potential field gain function, ρ(q,q goal ) is the current position q of the drone and the target position q goal distance.

[0019] Furthermore, after planning the inspection path from the current position of the UAV to the target position based on the artificial potential field method, the inspection path is optimized using a simulated annealing algorithm.

[0020] Furthermore, the electric field stress F total The calculation formula is as follows:

[0021]

[0022] Among them, F i is the electric field force corresponding to the electric field strength collected by the i-th electric field sensor.

[0023] The present invention is implemented as follows: a transmission line inspection system based on an unmanned aerial vehicle, the system comprising:

[0024] At least one electric field sensor is provided on the drone, and all electric field sensors are communicatively connected to the processor;

[0025] The electric field sensor is used to sense the electric field strength of the current position of the drone in real time and send it to the processor. The processor inspects the transmission line based on the above-mentioned drone-based transmission line inspection method.

[0026] The invention senses the electric field strength at the location of the drone. When it detects that the drone is in a strong electric field, in order to improve the safety and stability of the drone's navigation, the drone is controlled to fly in the direction of the electric field repulsion by avoiding the strong electric field area. In addition, the electric field strength is introduced into the repulsive field function, the electric field force of the strong electric field is equivalent to a repulsive force, and the flight path is changed, which is beneficial for effectively avoiding dangerous strong electric field areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flowchart of a transmission line inspection method based on a drone provided in an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of the distribution and structure of the electric field sensor provided in an embodiment of the present invention, wherein (a) is a schematic diagram of the distribution of the electric field sensor, and (b) is a schematic diagram of the structure of the electric field sensor;

[0029] Figure 3 A schematic diagram of the structure of a transmission line inspection system based on a drone provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The specific implementation modes of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0031] Figure 1 A flowchart of a transmission line inspection method based on a drone provided in an embodiment of the present invention, the method comprising the following steps:

[0032] (1) The UAV senses the electric field strength at its current location in real time during the inspection along the transmission line;

[0033] (2) When the UAV is in a strong electric field, the electric field stress on the UAV’s current position is calculated, and the UAV is controlled to perform inspections in the direction of the electric field stress;

[0034] (3) When the UAV enters a non-strong electric field, an inspection path from the current position of the UAV to the target position is planned based on the artificial potential field method, and the UAV in the non-strong electric field performs inspection based on the currently planned inspection path.

[0035] In an embodiment of the present invention, when a drone enters a non-strong electric field, it is necessary to plan an inspection path from the current position to the target position based on the artificial potential field method. The drone in the non-strong electric field performs inspections based on the currently planned inspection path until the drone enters a strong electric field. The drone's cruising path is then changed, and the drone is controlled to perform inspections in the direction of the electric field.

[0036] In an embodiment of the present invention, at least one electric field sensor is arranged on the drone, which is arranged at different positions of the drone. When the electric field strength detected by one of the electric field sensors is greater than the set electric field strength threshold, it is determined that the drone is currently in a strong electric field. When the electric field strength detected by all the electric field sensors is less than the set electric field strength threshold, it is determined that the drone is currently in a non-strong electric field. Generally, four electric field sensors are arranged on the drone, and the electric field sensors are distributed on the four blades of the drone propeller.

[0037] The present invention adopts an electric field sensor with a relatively simple structure, and its structure is as follows Figure 2 As shown, the electric field sensor consists of an upper sensing plate, a lower sensing plate and a sampling capacitor connecting the upper sensing plate and the lower sensing plate, wherein the upper sensing plate and the lower sensing plate are used to sense the charge generated by the electric field, and the sampling capacitor is used to collect the charge on the sensing plate and convert it into a voltage signal output, and convert the output voltage signal into a digital signal and transmit it to the processor wirelessly or wiredly. The processor analyzes the corresponding digital signal to obtain electric field strength information - the amplitude of the voltage signal is proportional to the electric field strength. By measuring the amplitude of the voltage signal, the magnitude of the electric field strength can be calculated.

[0038] The present invention adopts the artificial potential field method to plan the inspection path of the drone, and regards the drone as a particle moving in a virtual force field. The force field is generated by the target position and obstacles (transmission wires). By calculating these virtual forces, the motion trajectory of the drone can be determined. Specifically, the artificial potential field method plans the inspection path from the current position of the drone to the target position based on the repulsive field function of the equivalent electric field surface of the transmission wire on the drone and the gravitational field function of the target position on the drone.

[0039] The present invention introduces the electric field strength into the repulsive field function to modify the repulsive field function so that it includes the influence of the electric field strength, and then obtains the repulsive field function U of the equivalent electric field surface of the transmission wire to the drone. rep (q), the expression is as follows:

[0040]

[0041] Among them, η is the proportionality coefficient, ρ(q,q obs ) is the equivalent electric field surface q of the current position of the drone from the transmission line obs The minimum distance, ρ 0is the set distance ρ(q,q obs ) maximum value, E i is the electric field strength measured by the i-th electric field sensor, k is the influence coefficient of the electric field strength, and m is the number of electric field sensors set on the UAV.

[0042] In the embodiment of the present invention, the gravitational field function U att (q) as follows:

[0043]

[0044] Among them, ε is the gravitational potential field gain function, ρ(q,q goal ) is the current position q of the drone and the target position q goal distance.

[0045] In order to avoid the planned inspection path falling into the local optimum, after planning the inspection path from the current position of the UAV to the target position based on the artificial potential field method, the simulated annealing algorithm is used to optimize the inspection path. The UAV in a non-strong electric field performs inspection based on the optimized inspection path.

[0046] When the electric field sensor detects that the drone is currently in a strong electric field, the safety mechanism is triggered, that is, the direction of the electric field force is used as the flight direction of the drone. The electric field force is the vector superposition of all electric field forces. The electric field force vector calculation formula is as follows:

[0047]

[0048] Among them, F i is the electric field force vector at the position of the ith electric field sensor, E i is the electric field strength measured by the i-th electric field sensor, is the unit direction vector of the location of the i-th electric field sensor, q 0 is the amount of charge.

[0049] In the embodiment of the present invention, the electric field force vector F total The calculation formula is as follows:

[0050]

[0051] Among them, F i is the electric field force corresponding to the electric field intensity collected by the i-th electric field sensor, and m is the number of electric field sensors set on the UAV.

[0052] Figure 3 The structural diagram of the transmission line inspection system based on drone provided in the embodiment of the present invention, for the convenience of explanation, only the part related to the embodiment of the present invention is shown, and the system includes:

[0053] At least one electric field sensor is provided on the drone, and all electric field sensors are communicatively connected to the processor;

[0054] The electric field sensor is used to sense the electric field strength of the current position of the drone in real time and send it to the processor. The processor determines the inspection path of the drone based on the above-mentioned drone-based transmission line inspection method, and the drone inspects the transmission line based on the inspection path determined by the drone.

[0055] The present invention has been described exemplarily. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A transmission line inspection method based on drone, characterized in that: The method is specifically as follows: The drone senses the electric field strength at the current location in real time during the inspection along the transmission line; When the drone is in a strong electric field, the electric field stress on the drone’s current position is calculated, and the drone is controlled to conduct inspections in the direction of the electric field stress. When the UAV enters a non-strong electric field, an inspection path from the current position to the target position is planned based on the artificial potential field method, and the UAV in the non-strong electric field performs inspections based on the currently planned inspection path.

2. The power transmission line inspection method based on drone as claimed in claim 1, characterized in that: At least one electric field sensor is installed on the drone. When the electric field strength detected by one of the electric field sensors is greater than a set electric field strength threshold, it is determined that the drone is currently in a strong electric field.

3. The power transmission line inspection method based on drone as claimed in claim 2, characterized in that: The electric field sensor consists of an upper sensing plate, a lower sensing plate and a sampling capacitor connecting the upper sensing plate and the lower sensing plate. The upper sensing plate and the lower sensing plate are used to sense the charge generated by the electric field, and the sampling capacitor is used to collect the charge on the sensing plate and convert it into a voltage signal output.

4. The power transmission line inspection method based on drone as claimed in claim 1, characterized in that: The potential field method plans the inspection path from the current position of the UAV to the target position based on the repulsive field function of the equivalent electric field surface of the transmission line on the UAV and the gravitational field function of the target position on the UAV.

5. The power transmission line inspection method based on drone as claimed in claim 4, characterized in that: The repulsive field function U of the equivalent electric field surface of the transmission line on the drone rep The expression of (q) is as follows: Among them, η is the proportionality coefficient, ρ(q,q obs ) is the equivalent electric field surface q of the current position of the drone from the transmission line obs The minimum distance, ρ0 is the set distance ρ(q,q obs ) maximum value, E i is the electric field strength measured by the i-th electric field sensor, k is the influence coefficient of the electric field strength, and m is the number of electric field sensors set on the UAV.

6. The power transmission line inspection method based on drone as claimed in claim 4, characterized in that: Gravitational field function U att (q) as follows: Among them, ε is the gravitational potential field gain function, ρ(q,q goal ) is the current position q of the drone and the target position q goal distance.

7. The power transmission line inspection method based on drone as claimed in claim 4, characterized in that: After planning the inspection path from the current position of the UAV to the target position based on the artificial potential field method, the simulated annealing algorithm is used to optimize the inspection path.

8. The power transmission line inspection method based on drone according to claim 1, characterized in that: F total The calculation formula is as follows: Among them, F i is the electric field force corresponding to the electric field strength collected by the i-th electric field sensor.

9. A transmission line inspection system based on drones, characterized in that: The system comprises: At least one electric field sensor is provided on the drone, and all electric field sensors are communicatively connected to the processor; The electric field sensor is used to sense the electric field strength at the current position of the drone in real time and send it to the processor. The processor inspects the transmission line based on the drone-based transmission line inspection method described in any one of claims 1 to 8.

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