Distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network

Abstract

The invention discloses a distribution network autonomous inspection system based on RTK precise positioning and a bilateral LCC compensation network, and relates to the technical field of power inspection, and the system comprises a plurality of base towers which are fixedly arranged with the ground, and power lines are connected between the base towers; the photovoltaic panel is arranged near the base tower; the automatic battery changing intelligent machine nest is mounted near the base tower, and the automatic battery changing intelligent machine nest can be electrically connected with the photovoltaic panel and the base tower respectively; according to the invention, the intelligent machine nest is provided with a plurality of inspection unmanned aerial vehicles to form an inspection network, thereby achieving the large-range autonomous inspection of the power line, reducing the time of a single inspection unmanned aerial vehicle for repeated charging, enabling the inspection speed to be higher, enabling the inspection efficiency to be higher, enabling the inspection efficiency to be higher, and enabling the inspection efficiency to be higher. And meanwhile, by sharing one charging platform, the requirement that each inspection unmanned aerial vehicle needs an independent charging facility is reduced, and the equipment investment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power inspection, and in particular to a distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network. Background Art

[0002] Qinghai is located in the hinterland of the Qinghai-Tibet Plateau, with vast land and sparse population. The terrain is mainly mountainous, plateau, and hilly, with sparse vegetation. The road conditions near the base tower are poor and it is difficult to reach manually. Especially for the rural distribution network line, the line length is long, the power supply radius is large, and the complex terrain greatly increases the difficulty and cost of line operation and maintenance.

[0003] However, at present, the manual operation of drones is restricted by terrain, the signal transmission distance is limited, and the manual operation efficiency is low. At the same time, due to the bottleneck of battery technology, the battery life of drones is insufficient. The current autonomous inspections of drones are semi-autonomous inspections, which always require personnel to replace the batteries when the drone batteries are exhausted. This greatly limits the inspection efficiency of drones and the inspection costs continue to increase.

[0004] Therefore, it is necessary to design a distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network to solve the above technical problems. Summary of the invention

[0005] In response to the above problems, the present application provides an autonomous distribution network inspection system based on RTK precise positioning and bilateral LCC compensation network. By configuring a patrol network with multiple patrol drones equipped with an automatic battery-swapping intelligent machine nest, large-scale autonomous inspection of power lines is realized (autonomous inspection includes route planning, power monitoring and timely power replenishment of each patrol drone). This reduces the time required for multiple round trips for charging of a single patrol drone, making the inspection faster and more efficient. At the same time, by sharing a charging platform, the need for independent charging facilities for each patrol drone is reduced, reducing equipment investment costs. In addition, labor costs are reduced due to reduced manual participation.

[0006] To achieve the above object, the present invention provides the following technical solution: a distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network, which includes:

[0007] The base pole towers are configured as a plurality of pole towers, all of which are fixed to the ground, and power lines are connected between the base pole towers;

[0008] Photovoltaic panels are arranged near the base tower;

[0009] An automatic battery-swapping smart machine nest is installed near the base pole tower, and the automatic battery-swapping smart machine nest can be electrically connected to the photovoltaic panel and the base pole tower respectively, and is used for multi-energy supply of the automatic battery-swapping smart machine nest; and

[0010] The inspection drones are configured in multiple units, all of which are used for inspecting the power lines. The inspection drones can be wirelessly powered through the automatic battery-changing smart nest, and the inspection drones can be parked in the automatic battery-changing smart nest.

[0011] Furthermore, as a preference, the automatic battery-changing intelligent machine nest can also be moved to a monitoring location by a mobile work vehicle.

[0012] Furthermore, preferably, the coverage range of a single automatic battery-changing intelligent machine nest is at least 3 km, and a single automatic battery-changing intelligent machine nest can control at least 6 inspection robots to perform operations.

[0013] Further, as a preference, the inspection drone comprises a drone body and a gimbal installed at the lower end of the drone body, and a landing gear is fixedly provided at the lower end of the drone body.

[0014] Furthermore, as a preference, the UAV body is equipped with a control system, an RTK positioning module, a coupling mechanism and a wireless power transmission module, the control system can control the inspection UAV to perform autonomous inspections according to a preset route, the RTK positioning module is used for centimeter-level precise positioning of the inspection UAV, transmitting positioning information to the automatic battery-changing intelligent machine nest and accurately landing on the automatic battery-changing intelligent machine nest, the coupling mechanism includes a transmitter and a receiver, the transmitter is arranged in the automatic battery-changing intelligent machine nest, the receiving end is arranged in the UAV body, and the wireless power transmission module includes a PFC converter, a primary side inverter network, a bilateral LCC compensation network, a contactless transformer and a secondary side rectifier and filter network, which are used to improve the power transmission efficiency and anti-offset capability.

[0015] Further, preferably, the coupling mechanism includes but is not limited to a circular coil, a square coil and a DD-shaped coil.

[0016] Further, preferably, the bilateral LCC compensation network includes a primary-side LCC compensation circuit at the transmitting end and a secondary-side LCC compensation circuit at the receiving end, which are respectively arranged at the transmitting end and the receiving end of the coupling mechanism, and are used to compensate for inductance and capacitance losses during power transmission.

[0017] Furthermore, preferably, the UAV is also equipped with inspection sensors, including but not limited to infrared thermal imagers, visible light cameras, and ultraviolet detectors, for real-time monitoring and data collection of power lines.

[0018] Furthermore, as a preference, the automatic battery-changing intelligent machine nest is also configured with a wireless communication module, an intelligent cruise system, a data processing module and a data display unit. The wireless communication module is used for remote control of the inspection robot and receiving inspection and status information of the inspection robot. The intelligent cruise system is used for route planning of multiple inspection robots and power monitoring of each inspection robot, and scheduling each inspection robot to be charged according to the power status of each inspection robot. The data processing module performs data processing by receiving the inspection information of the inspection robot and displays it through the data display unit.

[0019] Compared with the prior art, the present invention provides a distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network, which has the following beneficial effects:

[0020] 1. The present invention forms an inspection network by equipping a plurality of inspection drones with an automatic battery-changing intelligent machine nest, thereby realizing large-scale autonomous inspection of power lines (autonomous inspection includes route planning, power monitoring and timely power replenishment of each inspection drone), reducing the time required for multiple round trips for charging of a single inspection drone, making the inspection faster and more efficient. At the same time, by sharing a charging platform, the need for independent charging facilities for each inspection drone is reduced, thereby reducing equipment investment costs. In addition, due to the reduction in manual participation, labor costs are reduced.

[0021] 2. The present invention relies on RTK precise positioning technology to achieve centimeter-level precise positioning of inspection drones. Relying on the unique power supply advantages of the distribution network and the anti-drift performance of the bilateral LCC compensation network, it can increase the flexibility and maneuverability of inspection drones, effectively solve the problem of energy supply, and reduce dependence on manual labor, thus realizing autonomous charging of drones.

[0022] 3. The present invention uses inspection robots to inspect power lines and can be deployed to new areas in a short time without worrying about delays caused by personnel mobilization. In addition, inspection drones replace manual work in dangerous or hard-to-reach environments, reducing the chance of personnel being exposed to high-risk environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application.

[0024] Figure 1 The overall structure diagram of the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0025] Figure 2It is a partial structural diagram of the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0026] Figure 3 This is a structural diagram of the inspection drone in the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0027] Figure 4 This is a structural diagram of the circular coil in the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0028] Figure 5 This is a structural diagram of the square coil in the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0029] Figure 6 It is a structural diagram of the DD-shaped coil in the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0030] Figure 7 It is a schematic diagram of the equivalent circuit of the bilateral LCC compensation network topology controlled source in the distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network;

[0031] Figure numerals: 1. UAV fuselage; 2. gimbal; 3. landing gear; 4. circular coil; 5. square coil; 6. DD-shaped coil. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of this application, unless otherwise specified, "plurality" means two or more.

[0034] See also Figure 1-Figure 7 The embodiment of the present invention provides a distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network, which includes:

[0035] The base pole towers are configured as a plurality of pole towers, all of which are fixed to the ground, and power lines are connected between the base pole towers;

[0036] Photovoltaic panels are arranged near the base tower;

[0037] An automatic battery-swapping smart machine nest is installed near the base pole tower, and the automatic battery-swapping smart machine nest can be electrically connected to the photovoltaic panel and the base pole tower respectively, and is used for multi-energy supply of the automatic battery-swapping smart machine nest; and

[0038] The inspection drones are configured in multiple units, all of which are used for inspecting the power lines. The inspection drones can be wirelessly powered through the automatic battery-changing smart nest, and the inspection drones can be parked in the automatic battery-changing smart nest.

[0039] Based on the above technical solution, the staff selects an appropriate number of inspection drones to inspect the power lines through the intelligent cruise system of the automatic battery-swap smart machine nest. The inspection drones accurately locate the fault points of the power lines at the centimeter level and provide real-time feedback to the automatic battery-swap smart machine nest. When the intelligent cruise system detects that the power level of the inspection robot has reached the threshold, the inspection drone is remotely controlled to automatically return to the automatic battery-swap smart machine nest for charging. After charging is completed, the inspection drone continues to perform the inspection task until the inspection work at that location is completed, and the inspection robots are recovered to the automatic battery-swap smart machine nest. At the same time, the automatic battery-swap smart machine nest can perform multi-energy replenishment and charging through base towers and photovoltaic panels.

[0040] On the basis of the above technical solutions, on the one hand, through the automatic battery-changing intelligent machine nest equipped with multiple inspection drones to form an inspection network, large-scale autonomous inspection of power lines is realized, and the time required for multiple round-trip charging of a single inspection drone is reduced, making the inspection faster and more efficient. At the same time, by sharing a charging platform, the need for independent charging facilities for each inspection drone is reduced, reducing equipment investment costs. In addition, due to the reduction of manual participation, labor costs are reduced; on the other hand, the automatic battery-changing intelligent machine nest can store and release the inspection robot, ensuring that the inspection robot can be placed at a fixed point according to actual needs, or carried by staff to other monitoring locations for monitoring.

[0041] In a possible implementation, the automatic battery-swapping intelligent machine nest can also be moved to the monitoring location by a mobile work vehicle, that is, a fixed-point automatic battery-swapping intelligent machine nest can be selected according to actual needs and the terrain of the monitoring location, or the automatic battery-swapping intelligent machine nest can be brought to the work point by a mobile work vehicle.

[0042] In one possible implementation, the coverage range of a single automatic battery-changing intelligent machine nest is at least 3 km, and a single automatic battery-changing intelligent machine nest can control at least 6 inspection robots to perform operations, so that multiple inspection drones can work together to cover a larger area and monitor power lines at the same time.

[0043] In a possible implementation, the inspection drone includes a drone body 1 and a gimbal 2 installed at the lower end of the drone body 1 , and a landing gear 3 is fixedly provided at the lower end of the drone body 1 .

[0044] By adopting the above technical solution, inspection robots can be used to inspect power lines and deployed to new areas in a short time without worrying about delays caused by personnel mobilization. In addition, inspection drones replace manual work in dangerous or hard-to-reach environments, reducing the chance of personnel being exposed to high-risk environments.

[0045] In a possible implementation, the UAV body 1 is equipped with a control system, an RTK positioning module, a coupling mechanism and a wireless power transmission module. The control system can control the inspection UAV to perform autonomous inspections according to a preset route. The RTK positioning module is used for centimeter-level precise positioning of the inspection UAV, transmitting positioning information to the automatic battery-changing intelligent machine nest and accurately landing on the automatic battery-changing intelligent machine nest. The coupling mechanism includes a transmitter and a receiver. The transmitter is arranged in the automatic battery-changing intelligent machine nest, and the receiver is arranged in the UAV body 1. The wireless power transmission module includes a PFC converter, a primary inverter network, a bilateral LCC compensation network, a contactless transformer and a secondary rectifier and filter network, which are used to improve the power transmission efficiency and anti-offset capability.

[0046] Through the above technical solution, the inspection UAV can achieve centimeter-level precise positioning of the inspection UAV by relying on the RTK precise positioning technology. And relying on the unique power supply advantages of the distribution network and the anti-offset performance of the bilateral LCC compensation network, it can increase the flexibility and maneuverability of the inspection UAV, effectively solve the problem of energy supply, and reduce dependence on manual labor, thus realizing autonomous charging of the UAV.

[0047] In a possible implementation, the coupling mechanism includes but is not limited to a circular coil 4 , a square coil 5 and a DD-shaped coil 6 .

[0048] It should be added that when designing the wireless power transmission coupling mechanism of the inspection drone, the volume and mass of the receiving end should be minimized to reduce the load of the drone. If a symmetrical magnetic coupling mechanism is used, it is difficult to achieve accurate coupling between the coupling coils when the drone lands. Therefore, in order to expand the rechargeable area, an asymmetrical magnetic coupling mechanism is required. Relative to the receiving coil, the size of the transmitting coil should be as large as possible. The sizes of the transmitting and receiving coils are different, and the structures of the transmitting coil and the receiving coil are asymmetrical.

[0049] See also Figure 7 In a possible implementation, the bilateral LCC compensation network includes a primary LCC compensation circuit at the transmitting end and a secondary LCC compensation circuit at the receiving end, which are respectively arranged at the transmitting end and the receiving end of the coupling mechanism, and are used to compensate for the inductance and capacitance losses during the power transmission process. This is the prior art and will not be described in detail.

[0050] It should be noted that in the magnetically coupled resonant drone wireless charging system, the coupling degree between the transceiver coils is the main factor restricting its working performance. When the coupling effect between the two coils is good, a more ideal working state can be achieved; when the coupling effect between the two coils is poor, that is, the charging coil is in a loosely coupled state, its coupling coefficient is low, and the operating frequency of the WPT system is high, making the coupling coil high impedance, resulting in impedance mismatch problems, causing large power loss. To solve this problem, a resonant compensation structure must be added to the transmitter and receiver to keep the system in a resonant state during operation, so that the coupling degree of the coupling coil is better, reducing the system reactive power and improving the system's transmission performance.

[0051] In a possible implementation, the drone body 1 is also equipped with inspection sensors, which include but are not limited to infrared thermal imagers, visible light cameras, and ultraviolet detectors, and are used for real-time monitoring and data collection of power lines.

[0052] In a possible implementation, the automatic battery-changing intelligent machine nest is also configured with a wireless communication module, an intelligent cruise system, a data processing module and a data display unit. The wireless communication module is used for remote control of the inspection robot and receiving inspection and status information of the inspection robot. The intelligent cruise system is used for route planning of multiple inspection robots and power monitoring of each inspection robot, and scheduling each inspection robot to be charged according to the power status of each inspection robot. The data processing module performs data processing by receiving the inspection information of the inspection robot and displays it through the data display unit. After the automatic battery-changing intelligent machine nest is processed by the data processing module, the staff can choose to view it through the data display unit.

[0053] During the specific implementation, the staff selects the automatic battery-swapping intelligent machine nest at a fixed point according to the actual needs and the terrain of the monitoring location, or brings the automatic battery-swapping intelligent machine nest to the operation point by a mobile work vehicle, and selects an appropriate number of inspection drones to inspect the power lines through the intelligent cruise system of the automatic battery-swapping intelligent machine nest. The inspection drone uses the RTK positioning module to accurately locate the fault point at the centimeter level and provide real-time feedback to the automatic battery-swapping intelligent machine nest. After the automatic battery-swapping intelligent machine nest is processed by the data processing module, the staff can choose to view it through the data display unit; when the intelligent cruise system detects that the power of the inspection robot has reached the threshold, the inspection drone is remotely controlled to automatically return to the automatic battery-swapping intelligent machine nest for charging. After charging is completed, the inspection drone continues to perform the inspection task until the inspection work at that location is completed, and each inspection robot is recovered to the automatic battery-swapping intelligent machine nest.

[0054] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network is characterized by: include: The base pole towers are configured as a plurality of pole towers, all of which are fixed to the ground, and power lines are connected between the base pole towers; Photovoltaic panels are arranged near the base tower; An automatic battery-swapping smart machine nest is installed near the base pole tower, and the automatic battery-swapping smart machine nest can be electrically connected to the photovoltaic panel and the base pole tower respectively, and is used for multi-energy supply of the automatic battery-swapping smart machine nest; as well as The inspection drones are configured in multiple units, all of which are used for inspecting the power lines. The inspection drones can be wirelessly powered through the automatic battery-changing smart nest, and the inspection drones can be parked in the automatic battery-changing smart nest.

2. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 1 is characterized by: The automatic battery-changing intelligent machine nest can also be moved to a monitoring location by a mobile work vehicle.

3. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 2 is characterized by: The coverage range of a single automatic battery-changing intelligent machine nest is at least 3km, and a single automatic battery-changing intelligent machine nest can control at least 6 inspection robots to perform operations.

4. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 1 is characterized by: The inspection drone comprises a drone body (1) and a gimbal (2) mounted at the lower end of the drone body (1), and a landing gear (3) is fixedly arranged at the lower end of the drone body (1).

5. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 4 is characterized by: The drone body (1) is equipped with a control system, an RTK positioning module, a coupling mechanism and a wireless power transmission module. The control system can control the inspection drone to perform autonomous inspections according to a preset route. The RTK positioning module is used for centimeter-level precise positioning of the inspection drone, transmitting positioning information to the automatic battery-changing intelligent machine nest and accurately landing on the automatic battery-changing intelligent machine nest. The coupling mechanism includes a transmitter and a receiver. The transmitter is arranged in the automatic battery-changing intelligent machine nest, and the receiver is arranged in the drone body (1). The wireless power transmission module includes a PFC converter, a primary inverter network, a bilateral LCC compensation network, a contactless transformer and a secondary rectifier filter network, which are used to improve power transmission efficiency and anti-offset capability.

6. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 5 is characterized by: The coupling mechanism includes but is not limited to a circular coil (4), a square coil (5) and a DD-shaped coil (6).

7. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 5 is characterized by: The bilateral LCC compensation network comprises a primary LCC compensation circuit at the transmitting end and a secondary LCC compensation circuit at the receiving end, which are respectively arranged at the transmitting end and the receiving end of the coupling mechanism, and are used to compensate for the inductance and capacitance losses during the power transmission process.

8. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 4 is characterized by: The drone body (1) is also equipped with inspection sensors, which include but are not limited to infrared thermal imagers, visible light cameras, and ultraviolet detectors, and are used for real-time monitoring and data collection of power lines.

9. The distribution network autonomous inspection system based on RTK precise positioning and bilateral LCC compensation network according to claim 1 is characterized by: The automatic battery-changing intelligent machine nest is also configured with a wireless communication module, an intelligent cruise system, a data processing module and a data display unit. The wireless communication module is used for remote control of the inspection robot and receiving inspection and status information of the inspection robot. The intelligent cruise system is used for route planning of multiple inspection robots and power monitoring of each inspection robot, and scheduling each inspection robot to charge according to the power status of each inspection robot. The data processing module performs data processing by receiving the inspection information of the inspection robot and displays it through the data display unit.

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