CN116918593B - Binocular vision unmanned image-based power transmission line channel tree obstacle monitoring system - Google Patents
Binocular vision unmanned image-based power transmission line channel tree obstacle monitoring system Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 60
- 238000012544 monitoring process Methods 0.000 title claims abstract description 17
- 238000013138 pruning Methods 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000005516 engineering process Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 40
- 238000009966 trimming Methods 0.000 claims description 38
- 230000004888 barrier function Effects 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 13
- 238000007781 pre-processing Methods 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000013135 deep learning Methods 0.000 claims description 2
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 6
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- 238000010276 construction Methods 0.000 description 3
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- 238000004140 cleaning Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
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- 241000607479 Yersinia pestis Species 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/002—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees for comminuting plant waste
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
Abstract
Compared with the prior art, the power transmission line passage tree obstacle monitoring system comprises an unmanned aerial vehicle, a binocular camera device, a pruning module, a control base station and an analysis module, wherein the unmanned aerial vehicle is used for carrying out inspection on a power transmission line in a target power grid area, the binocular camera device is arranged on the unmanned aerial vehicle and used for carrying out image acquisition on the power transmission line, the pruning module is used for timely pruning tree obstacles near the power transmission line, the control base station is used for carrying out instruction sending and control on the unmanned aerial vehicle and the pruning module based on a communication technology, and the analysis module is used for receiving image information obtained by shooting by the binocular camera device and carrying out analysis processing on the image information so as to obtain the tree obstacle condition of the power transmission line. According to the invention, the tree obstacle condition of the power transmission line is accurately obtained by analyzing and processing the image information shot by the binocular shooting device, so that the tree obstacle pruning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of power transmission line monitoring, in particular to a binocular vision unmanned image-based power transmission line channel tree obstacle monitoring system.
Background
At present, the construction progress of a high-voltage transmission line power grid is gradually accelerated, various hidden dangers may exist in a construction site of a high-voltage transmission tower, for example, hidden dangers exist on the safety of the transmission line by trees nearby the transmission line, and the collapse or fracture of the trees in storm or high wind weather can cause trunks or branches to fall on the electric line, so that the safety problems such as power failure or fire disaster of the electric line are caused. In addition, if the tree grows too fast or is damaged by tree diseases and insect pests, branches are broken, so that huge hidden danger is caused to a power transmission line, and huge economic loss is caused to society.
The experimental team carries out browsing and researching of a large number of relevant recorded data aiming at the relevant technology of the power transmission line for a long time, and simultaneously relies on relevant resources, and carries out a large number of relevant experiments, and finds that the existing prior art such as CN112668885B, CN110673634B, CN105447625B and CN106684761B disclosed in the prior art is found through a large number of searches, and the power transmission line obstacle clearing device disclosed in the prior art comprises a front travelling mechanism and a rear travelling mechanism which are identical in structure, and obstacle clearing mechanisms arranged at the lower parts of the front travelling mechanism and the rear travelling mechanism, wherein the front travelling mechanism and the rear travelling mechanism comprise a left travelling bracket and a right travelling bracket, a cross beam is arranged at the upper part of the left travelling bracket, and the cross beam of the front travelling mechanism is connected with the cross beam of the rear travelling mechanism through a connecting plate; pulley brackets are arranged at the bottoms of the left side and the right side of the cross beam, pulleys are rotatably arranged in the pulley brackets, and the pulleys are pressed on a power transmission line; the obstacle clearance mechanism comprises a front suspender suspended at the lower end of a pulley bracket of the front travelling mechanism, a rear suspender suspended at the lower end of a pulley bracket of the rear travelling mechanism and a bearing platform arranged at the lower ends of the front suspender and the rear suspender. The invention not only can automatically clear the branch barriers beside the transmission line, but also can effectively avoid the phenomenon that the whole device slips or even backs up in the walking process.
The invention is designed for solving the problems that the manual labor force required by building and managing the tree barriers near the power transmission line is large, the efficiency of building and removing the tree barriers is low and the like in the prior art.
Disclosure of Invention
The invention aims to provide a binocular vision unmanned image-based power transmission line channel tree obstacle monitoring system aiming at the defects in the prior art.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
a transmission line channel tree obstacle monitoring system based on binocular vision unmanned images, which comprises an unmanned aerial vehicle, a binocular camera device, a pruning module, a control base station and an analysis module, wherein the unmanned aerial vehicle is used for carrying out inspection on a transmission line in a target power grid area, the binocular camera device is arranged on the unmanned aerial vehicle and is used for carrying out image acquisition on the transmission line, the pruning module is used for carrying out timely pruning processing on tree obstacles near the transmission line, the control base station is used for carrying out instruction transmission and control on the unmanned aerial vehicle and the pruning module based on a communication technology, the analysis module is used for receiving image information obtained by shooting by the binocular camera device and carrying out analysis processing on the image information to obtain tree obstacle conditions of the transmission line,
the control base station is used for respectively carrying out remote control and monitoring on the unmanned aerial vehicle, the binocular camera device and the trimming module, the control base station is used for sending instructions to the unmanned aerial vehicle, the binocular camera device and the trimming module, and meanwhile, the control base station receives data sent by the unmanned aerial vehicle, the binocular camera device and the trimming module, and the control base station is used for carrying out communication transmission with the unmanned aerial vehicle, the binocular camera device and the trimming module, so that the control base station can monitor the position and the operation gesture information of the unmanned aerial vehicle, the binocular camera device and the trimming module and correspondingly control and adjust the corresponding position and the operation gesture;
the analysis module comprises a preprocessing unit for preprocessing image information obtained by shooting by the binocular shooting device to obtain a target image, an identification unit for calculating the actual position of a target tree barrier in the target image through a binocular parallax method, and a communication unit for sending the position information of the target tree barrier to a control base station, wherein the image information obtained by the binocular shooting device comprises a left view and a right view which are at two different angles.
Further, the pruning module comprises a moving mechanism moving on the ground of the target power grid area, a lifting table fixed on the moving mechanism, an operation device for pruning the tree obstacle, a collecting mechanism for collecting branches obtained by pruning the operation device, and a stabilizing mechanism for improving the stability of the operation device in the lifting process.
Further, the operation device comprises a circular trimming blade, a blade support for vertically and rotatably fixing the trimming blade, a speed reducing motor for driving the trimming blade to rotate relative to the blade support, a containing shell with at least one opening, and a connecting mechanism for movably connecting the trimming blade to the containing shell, wherein the containing shell comprises a containing cavity arranged in the containing shell and an opening arranged on an upper shell wall of the containing shell, the trimming blade, the blade support and the speed reducing motor can be contained in the containing cavity, and the bottom of the containing shell is fixed on an upper table top of the lifting platform.
Further, the stabilizing mean includes the fixed column on being fixed in the AGV dolly through corresponding supporting seat is vertical, at least two vertical inlays establish the slide rail to the outer column wall of fixed column, at least one movable fit to one of them first lifter on the slide rail, at least one movable fit to the second lifter on another slide rail, with first lifter and second lifter fixed connection's concave plate of concave structure, and one end connect be fixed in on the concave plate and the other end with hold the side shell wall fixed connection of shell, wherein the concave inner wall that includes concave region place and the outer wall that is not concave region place of concave plate, first lifter and second lifter are fixed to concave inner wall respectively relatively, the connecting rod is fixed in on the concave plate outer wall.
Further, the collection mechanism comprises a supporting plate horizontally fixed on the upper table surface of the lifting table, an inclined plate obliquely fixed on the supporting plate through a plurality of supporting rods, a through channel arranged in the middle of the supporting plate, a plurality of suction ports distributed on the inner channel wall of the through channel, a communication pipeline, an exhaust device, a filter screen sheet, a crusher, a transmission channel, a collection box and a guide pipe, wherein one end of the suction port is penetrated into the supporting plate to be communicated with the suction port, the exhaust device is communicated with the other end of the communication pipeline and used for generating negative pressure suction at the suction port, the filter screen sheet is coated at the suction port, the crusher is fixed on the lower plate wall of the supporting plate and used for crushing branches removed from the through channel, the transmission channel is correspondingly communicated with the discharge end of the crusher at the upper channel port, the collection box is used for placing crushed branches, and the guide pipe is arranged at the top and communicated with the discharge port of the crusher and is arranged at the bottom and the collection box.
The beneficial effects obtained by the invention are as follows:
1. according to the invention, the actual position of the target tree obstacle is calculated by adopting the binocular parallax method, the adjustment and expansion are carried out aiming at a specific application scene, and the three-dimensional coordinates of the matching point under the world coordinate system are calculated by the triangulation algorithm, so that the position of the target tree obstacle can be accurately determined.
2. The pruning module adopts the circular pruning blade and the blade support, and can realize the movement and the storage of the pruning blade by controlling the telescopic driving piece, automatically, quickly and efficiently prune tree barriers, avoid the situation of damaging trees and power transmission lines, reduce the manual operation difficulty and improve the working efficiency.
3. According to the collecting mechanism, the structure of the inclined plate and the penetrating channel is utilized, the pruned branches are efficiently collected under the action of the air draft device, the danger that the branches fall to the ground such as a power transmission line is avoided, meanwhile, the working efficiency is improved, the flexible pipeline manufactured by rubber materials is utilized as the guide pipe by the collecting mechanism, the branch scraps can be accurately and directionally transferred into the collecting box, the branch scraps are prevented from scattering, the cleaning workload and the environmental pollution are reduced, and the working safety is improved.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic diagram of a transmission line channel tree obstacle monitoring system according to the present invention.
Fig. 2 is a schematic view of a portion of a trimming module according to the present invention.
Fig. 3 is a schematic top view of the stabilizing mechanism of the present invention.
Fig. 4 is a schematic view of a part of the construction of the working device of the present invention.
FIG. 5 is a schematic diagram of the module of the present invention.
Reference numerals illustrate: 1-a through channel; 2-supporting plates; 3-a crusher; 4-guiding tube; 5-collecting box; 6-a moving mechanism; 7-lifting platform; 8-sliding rails; 9-connecting rods; 10-fixing the column; 11-concave plates; 12-a first lifting block; 13-a housing; 14-inclined plates; 15-the outer wall of the concave plate; 16-concave inner wall; 17-blade support; 18-opening; 19-trimming blades; 20-a guide rail; 21-a slider; 22-miniature telescopic driving piece; 23-connecting plates; 24-moving plate; 25-fixing plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following examples thereof; it is noted that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting. Other systems, methods, and/or features of the present embodiments will be or become apparent to one with skill in the art upon examination of the following detailed description. And the terms describing the positional relationship in the drawings are merely for illustrative purposes and are not to be construed as limiting the present patent, and specific meanings of the terms can be understood by those of ordinary skill in the art according to specific circumstances.
Embodiment one: with reference to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the present embodiment constructs a power transmission line passage tree obstacle monitoring system based on binocular vision unmanned images;
the power transmission line channel tree obstacle monitoring system based on binocular vision unmanned images comprises an unmanned aerial vehicle, a binocular camera device, a pruning module, a control base station and an analysis module, wherein the unmanned aerial vehicle is used for carrying out inspection on a power transmission line in a target power grid area, the binocular camera device is arranged on the unmanned aerial vehicle and used for carrying out image acquisition on the power transmission line, the pruning module is used for timely pruning tree obstacles near the power transmission line, the control base station is used for carrying out instruction transmission and control on the unmanned aerial vehicle and the pruning module based on a communication technology, and the analysis module is used for receiving image information obtained by shooting by the binocular camera device and carrying out analysis processing on the image information so as to obtain tree obstacle conditions of the power transmission line;
the control base station is used for respectively carrying out remote control and monitoring on the unmanned aerial vehicle, the binocular camera device and the trimming module, the control base station is used for sending instructions to the unmanned aerial vehicle, the binocular camera device and the trimming module, and meanwhile, the control base station receives data sent by the unmanned aerial vehicle, the binocular camera device and the trimming module, and the control base station is used for carrying out communication transmission with the unmanned aerial vehicle, the binocular camera device and the trimming module, so that the control base station can monitor the position and the operation gesture information of the unmanned aerial vehicle, the binocular camera device and the trimming module and correspondingly control and adjust the corresponding position and the operation gesture;
the analysis module comprises a preprocessing unit for preprocessing image information obtained by shooting by the binocular shooting device to obtain a target image, an identification unit for calculating the actual position of a target tree barrier in the target image through a binocular parallax method, and a communication unit for sending the actual position of the target tree barrier to a control base station, wherein the image information obtained by the binocular shooting device comprises a left view and a right view which are at two different angles;
the preprocessing unit is realized by a computer or an embedded system, and the preprocessing unit performs denoising, enhancement, scaling and cutting processing on the image information to obtain a target image with preset specification;
the parallax computing unit generates a three-dimensional model of a tree obstacle through binocular vision technology, triangulates images to obtain images within a threshold distance range of a power transmission line, extracts the images to obtain extracted images, inputs the measured extracted images to a target detection algorithm, and specifically, the parallax computing unit is realized through the following steps:
s101: extracts the left view and the right view acquired by the binocular camera device,
s102: preprocessing the left view and the right view respectively, wherein the preprocessing comprises denoising, enhancing, scaling and cutting, the power line and tree areas in the left view and the right view are identified through the YOLO, faster and/or R-CN target detection algorithm in the deep learning,
s103: extracting a plurality of feature points from the left view and the right view based on SIFT, SURF, and/or ORB algorithms, then matching the feature points in the left view and the right view, and representing the two feature points matched with each other as a pair of matching points,
s104: obtaining pixel coordinates of the feature points in the left view and/or the right view, calculating parallax of the pair of matching points according to the pixel coordinates of the feature points, wherein the parallax is the difference of the pixel coordinates of two feature points in the matching points in the left view and the right view respectively,
s105: converting pixel coordinates of the matching points into coordinates under a camera coordinate system according to preset camera internal and external parameter information of the binocular camera device and the parallax, then calculating three-dimensional coordinates of the matching points under a world coordinate system through a triangulation algorithm, wherein the internal parameter information comprises a focal length and a main point position of the camera, the external parameter information comprises a position and a posture of the binocular camera device under the world coordinate system, the internal parameter information and the external parameter information can be obtained through the binocular camera device through pre-calibration,
s106: S103-S105 are repeated until three-dimensional coordinates of all power lines and trees are calculated,
s107: based on a preset threshold distance, taking a tree with a distance from the transmission line within the threshold distance as a target tree barrier in a world coordinate system, extracting three-dimensional coordinates of the target tree barrier to determine the actual position, the height and the coordinate axis direction of the target tree barrier in a power grid area, and further obtaining the actual position of the target tree barrier in the power grid area;
the communication unit sends the actual position of the target tree barrier to the control base station for the subsequent pruning module to prune the target tree barrier in time;
the analysis module calculates the actual position of the target tree obstacle by adopting a binocular parallax method, adjusts and expands the target tree obstacle according to a specific application scene, calculates the three-dimensional coordinates of the matching points under a world coordinate system by a triangulation algorithm, and can accurately determine the position of the target tree obstacle.
Embodiment two: in addition to the inclusion of the above embodiments, with reference to fig. 1, 2, 3, 4 and 5, the following are:
the pruning module comprises a moving mechanism moving on the ground of a target power grid area, a lifting table fixed on the moving mechanism, an operation device for pruning tree barriers, a collecting mechanism for collecting branches obtained by pruning of the operation device, and a stabilizing mechanism for improving stability of the operation device in the lifting process, wherein the moving mechanism is an AGV trolley in the prior art, details are omitted, the operation device is fixed on the lifting table, and the lifting table is used for driving the operation device to lift relative to the ground;
the operation device comprises a round trimming blade, a blade support which is used for vertically and rotatably fixing the trimming blade, a gear motor which is used for driving the trimming blade to rotate relative to the blade support, a containing shell with at least one opening and a connecting mechanism which is used for movably connecting the trimming blade to the containing shell, wherein the containing shell comprises a containing cavity arranged inside and an opening arranged on the upper shell wall of the containing shell, and the trimming blade, the blade support and the gear motor can be contained in the containing cavity;
the bottom of the accommodating shell is fixed on the upper table surface of the lifting table, the connecting mechanism comprises a guide rail, a sliding block, a miniature telescopic driving piece, connecting plates and a fixed plate, the bottom of the guide rail is vertically fixed on the bottom cavity wall of the accommodating cavity, the sliding block is movably sleeved on the guide rail, the bottom of the miniature telescopic driving piece is vertically fixed on the bottom cavity wall, the top of the miniature telescopic driving piece is fixedly connected with the bottom of the sliding block, the connecting plates are fixedly laid on two sides of the sliding block, the connecting plates are vertically arranged, the two plates are respectively connected to moving plates on the two connecting plates along the moving plates, the bottom of the fixed plate is fixed on the upper block wall of the sliding block and is parallel to the moving plates, and the guide rail, the fixed plate and the moving plates are mutually arranged in parallel, and the two connecting plates are respectively fixed on different block side walls of the sliding block;
the blade supporting seat is fixed on a side plate wall of the moving plate, which is correspondingly far away from the guide rail, the speed reducing motor is fixed on the fixed plate, a power output shaft of the speed reducing motor extends to be fixedly connected with a central shaft of the trimming blade, and the speed reducing motor is used for driving the trimming blade to rotate;
the sliding block, the two connecting plates and the moving plate are connected into a whole, the telescopic driving piece drives the sliding block to linearly reciprocate along the guide rail through telescopic operation, the sliding block further drives the trimming blade, the blade and the gear motor to vertically move relative to the guide rail, the telescopic driving mechanism drives at least part of the trimming blade to penetrate out of the accommodating cavity through extending operation so as to trim a tree barrier, and the telescopic driving piece also completely accommodates the trimming blade positioned outside the accommodating cavity into the accommodating cavity through contracting operation;
the stabilizing mechanism comprises a fixed column vertically fixed on the AGV trolley through a corresponding supporting seat, at least two sliding rails vertically embedded into the outer column wall of the fixed column, at least one first lifting block movably matched onto one sliding rail, at least one second lifting block movably matched onto the other sliding rail, a concave plate of a concave structure fixedly connected with the first lifting block and the second lifting block, and a connecting rod with one end fixedly connected to the concave plate and the other end fixedly connected with the side shell wall of the accommodating shell, wherein the concave plate comprises a concave inner wall where a concave area is located and a concave plate outer wall where a non-concave area is located, the first lifting block and the second lifting block are respectively and relatively fixed onto the concave inner wall, and the connecting rod is fixedly connected onto the concave plate outer wall;
the pruning module adopts the circular pruning blade and the blade support, and can realize the movement and the storage of the pruning blade by controlling the telescopic driving piece, automatically, quickly and efficiently prune tree barriers, avoid the situation of damaging trees and power transmission lines, reduce the manual operation difficulty and improve the working efficiency.
Embodiment III: in addition to the above embodiments, the collecting mechanism includes a support plate horizontally fixed to an upper table surface of the lifting table, an inclined plate obliquely fixed to the support plate through a plurality of support rods, a through passage provided in the middle of the support plate, a plurality of suction ports provided in the inner wall of the through passage in a distributed manner, a communication pipe having one end penetrating into the support plate and being provided in communication with the suction ports, an air extracting device provided in communication with the other end of the communication pipe and being used for generating negative pressure suction at the suction ports, a mesh sheet applied at the suction ports, a crusher fixed to a lower plate wall of the support plate and crushing branches removed from the through passage, a transmission passage having an upper passage port provided in communication with a discharge end of the crusher, a collecting box for placing crushed branches, and a guide pipe having a top portion provided in communication with the discharge port of the crusher and a bottom portion provided in communication with the collecting box;
the through channel is respectively arranged through the upper plate wall and the lower plate wall of the supporting plate, branches trimmed by the trimming module drop onto the inclined surface of the inclined plate and directionally move into the through channel along the inclined surface, under the air suction operation of the air suction device, the suction port generates negative pressure to absorb branches near the through channel into the through channel, under the cooperation of the inclined plate and the air suction device, the trimmed branches are effectively collected, so that the branches are reduced from being crashed into a power line, the filter screen is used for preventing the broken leaves from entering into the communication pipeline from the suction port, and the crusher is fixed on the lower plate wall of the supporting plate through a plurality of fixing supports;
meanwhile, a feeding port of the crusher is arranged adjacent to a lower channel port of the through channel, branches which are trimmed by the trimming module and move from the inclined plate wall of the inclined plate to the through channel in an oriented manner, the branches further enter the crusher from the bottom of the through channel, the crusher crushes the branches to obtain branch fragments, and the branch fragments sequentially move out of a discharging end of the crusher and further move into a collecting box from a transmission channel, so that trimming and recycling treatment of tree barriers near a power transmission line is realized;
the guide pipe is a flexible pipeline manufactured by rubber materials, the pipe wall of the guide pipe gradually takes a bent and folded contracted state when the lifting platform descends, the pipe wall of the guide pipe takes an extended state of gradually and smoothly extending when the lifting platform ascends, and the guide pipe is used for directionally transferring branch scraps into the collecting box;
according to the collecting mechanism, the structure of the inclined plate and the penetrating channel is utilized, the pruned branches are efficiently collected under the action of the air draft device, the danger that the branches fall to the ground such as a power transmission line is avoided, meanwhile, the working efficiency is improved, the flexible pipeline manufactured by rubber materials is utilized as the guide pipe by the collecting mechanism, the branch scraps can be accurately and directionally transferred into the collecting box, the branch scraps are prevented from scattering, the cleaning workload and the environmental pollution are reduced, and the working safety is improved.
While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems and devices discussed above are examples. Various configurations may omit, replace, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in a different order than described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, as the technology evolves, elements therein may be updated, i.e., many of the elements are examples, and do not limit the scope of the disclosure or the claims. And it is understood that various changes and modifications may be made by those skilled in the art after reading the description of the invention, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.
Claims (4)
1. The power transmission line passage tree obstacle monitoring system based on binocular vision unmanned images is characterized by comprising an unmanned aerial vehicle for inspecting a power transmission line in a target power grid area, a binocular camera device arranged on the unmanned aerial vehicle for acquiring images of the power transmission line, a pruning module for timely pruning tree obstacles near the power transmission line, a control base station for sending and controlling the unmanned aerial vehicle and the pruning module based on a communication technology, an analysis module for receiving image information obtained by shooting by the binocular camera device and analyzing the image information to obtain tree obstacle conditions of the power transmission line,
the control base station is used for respectively carrying out remote control and monitoring on the unmanned aerial vehicle, the binocular camera device and the trimming module, the control base station is used for sending instructions to the unmanned aerial vehicle, the binocular camera device and the trimming module, and meanwhile, the control base station receives data sent by the unmanned aerial vehicle, the binocular camera device and the trimming module, and the control base station is used for carrying out communication transmission with the unmanned aerial vehicle, the binocular camera device and the trimming module, so that the control base station can monitor the position and the operation gesture information of the unmanned aerial vehicle, the binocular camera device and the trimming module and correspondingly control and adjust the corresponding position and the operation gesture;
the analysis module comprises a preprocessing unit for preprocessing image information obtained by shooting by the binocular shooting device to obtain a target image, an identification unit for calculating the actual position of a target tree barrier in the target image through a binocular parallax method, and a communication unit for sending the position information of the target tree barrier to a control base station, wherein the image information obtained by the binocular shooting device comprises a left view and a right view which are at two different angles;
the trimming module adopts a round trimming blade and a blade support, and can realize movement and storage of the trimming blade by controlling the telescopic driving piece; the pruning module comprises a moving mechanism which moves on the ground of a target power grid area, a lifting table which is fixed on the moving mechanism, an operation device which is used for pruning a tree obstacle, a collecting mechanism which is used for collecting branches obtained by pruning of the operation device, and a stabilizing mechanism which is used for improving the stability of the operation device in the lifting process;
the system generates a three-dimensional model of a tree barrier through binocular vision technology, triangulates the image so as to obtain the image within the threshold distance range of the power transmission line, extracts the image so as to obtain an extracted image, and inputs the measured extracted image into a target detection algorithm, specifically, the system is realized through the following steps:
s101: extracts the left view and the right view acquired by the binocular camera device,
s102: preprocessing the left view and the right view respectively, wherein the preprocessing comprises denoising, enhancing, scaling and cutting, the power line and tree areas in the left view and the right view are identified through the YOLO, faster and/or R-CN target detection algorithm in the deep learning,
s103: extracting a plurality of feature points from the left view and the right view based on SIFT, SURF, and/or ORB algorithms, then matching the feature points in the left view and the right view, and representing the two feature points matched with each other as a pair of matching points,
s104: obtaining pixel coordinates of the feature points in the left view and/or the right view, calculating parallax of the pair of matching points according to the pixel coordinates of the feature points, wherein the parallax is the difference of the pixel coordinates of two feature points in the matching points in the left view and the right view respectively,
s105: converting pixel coordinates of the matching points into coordinates under a camera coordinate system according to preset camera internal and external parameter information of the binocular camera device and the parallax, then calculating three-dimensional coordinates of the matching points under a world coordinate system through a triangulation algorithm, wherein the internal parameter information comprises a focal length and a main point position of the camera, the external parameter information comprises a position and a posture of the binocular camera device under the world coordinate system, the internal parameter information and the external parameter information can be obtained through pre-calibration of the binocular camera device,
s106: S103-S105 are repeated until three-dimensional coordinates of all power lines and trees are calculated,
s107: based on a preset threshold distance, taking a tree with a distance from the transmission line within the threshold distance as a target tree barrier in a world coordinate system, extracting three-dimensional coordinates of the target tree barrier to determine the actual position, the height and the coordinate axis direction of the target tree barrier in a power grid area, and further obtaining the actual position of the target tree barrier in the power grid area;
the communication unit sends the actual position of the target tree barrier to the control base station for the subsequent pruning module to prune the target tree barrier in time.
2. The transmission line path tree obstacle monitoring system according to claim 1 wherein the working unit comprises a circular pruning blade, a blade support for vertically and rotatably securing the pruning blade, a gear motor for driving the pruning blade to pivot relative to the blade support, a containment vessel having at least one opening, and a connecting mechanism for movably connecting the pruning blade to the containment vessel, wherein the containment vessel comprises a containment cavity disposed therein and an opening disposed in an upper vessel wall of the containment vessel, the pruning blade, blade support and gear motor being receivable into the containment cavity, the bottom of the containment vessel being secured to an upper table top of the lift.
3. The transmission line aisle tree barrier monitoring system of claim 2, wherein the stabilizing mechanism includes a fixed column vertically fixed to the AGV trolley through a corresponding support base, at least two slide rails vertically embedded to an outer column wall of the fixed column, at least one first lifting block movably fitted to one of the slide rails, at least one second lifting block movably fitted to the other slide rail, a concave plate of a concave structure fixedly connected to the first lifting block and the second lifting block, and a connecting rod having one end connected to the concave plate and the other end fixedly connected to a side wall of the accommodating case, wherein the concave plate includes a concave inner wall where a concave region is located and an outer wall where a non-concave region is located, the first lifting block and the second lifting block are respectively fixed to the concave inner wall relatively, and the connecting rod is fixed to the concave plate outer wall.
4. The transmission line passage tree obstacle monitoring system according to claim 3, wherein the collecting mechanism comprises a supporting plate horizontally fixed on an upper table surface of the lifting table, an inclined plate obliquely fixed to the supporting plate through a plurality of supporting rods, a through passage arranged in the middle of the supporting plate, a plurality of suction ports distributed in an inner passage wall of the through passage, a communication pipe with one end penetrating into the supporting plate to be communicated with the suction ports, an air suction device communicated with the other end of the communication pipe and used for generating negative pressure suction force at the suction ports, a filter screen sheet laid at the suction ports, a crusher fixed on a lower plate wall of the supporting plate and used for crushing branches removed from the through passage, a transmission passage with an upper passage port correspondingly communicated with a discharge end of the crusher, a collecting box used for placing crushed branches, and a guide pipe with the top communicated with the discharge port of the crusher and the bottom communicated with the collecting box.
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