Multi-UAV cooperative patrol inspection method and system suitable for regional transmission line

Abstract

The invention discloses a multi-UAV cooperative patrol inspection method suitable for a regional transmission line, comprising steps of: S1, acquiring a patrol inspection task, dividing a transmissionline to be inspected into a plurality of patrol inspection areas, and assigning a UAV to each patrol inspection area; S2, for each patrol inspection area, in combination with the coordinate information and the altitude of the transmission line in patrol inspection area, generating a number of patrol inspection routes that do not interfere with each other, and importing the generated patrol inspection routes into the UAVs one to one; and S3, driving the UAVs to take off, and enabling each UAV to execute the patrol inspection task according to the imported patrol inspection route correspondingto the UAV. The method can simultaneously execute parallel patrol and photograph the regional transmission line by multiple UAVs, so that the multiple UAVs execute respective assigned patrol inspection tasks at basic parallel efficiency, and are collected after completing the tasks. The method significantly reduces manual intervention, reduces an error rate, saves patrol inspection time, and improves patrol inspection efficiency.

Description

Technical field [0001] The invention relates to the technical field of unmanned aerial vehicle power line inspection, in particular to a multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission lines. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an unmanned aerial vehicle operated by radio remote control equipment and self-provided program control device. It carries a camera system and conforms to the management specifications of the transmission line system. It can fly by people. It can be controlled by hand, and can also perform automated tower patrol tasks under software control by recording pre-recorded inspection points. [0003] In the current drone inspection missions, experienced operators are still using remote controls and other equipment to control the drone throughout the entire process, to achieve a series of actions such as bypassing obstacles, reaching the designated position and adjusting the a...

AI Technical Summary

Problems solved by technology

[0003] In the current UAV inspection mission, experienced operators are still used to use remote control and other equipment to control the UAV in the whole process, to achieve a series of actions such as bypassing obstacles, reaching the designated position and adjusting the angle to take pictures. , the requirements for operators are high, when there are many inspection targets, the inspection efficiency is low, the operator is under a lot of pressure, and inspection errors such as missing inspection locations are prone to occur, resulting in repeated inspections

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