CN106468918B - Standardized data acquisition method and system for line inspection - Google Patents
Standardized data acquisition method and system for line inspection Download PDFInfo
- Publication number
- CN106468918B CN106468918B CN201510504379.4A CN201510504379A CN106468918B CN 106468918 B CN106468918 B CN 106468918B CN 201510504379 A CN201510504379 A CN 201510504379A CN 106468918 B CN106468918 B CN 106468918B
- Authority
- CN
- China
- Prior art keywords
- line
- data
- inspection
- section
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a standardized data acquisition method and a standardized data acquisition system for line inspection, wherein the method comprises the following steps: according to the characteristics of each section of line, a picture is taken at a preset point position, and the position and the attitude in the flight state information of the aircraft corresponding to the picture and the attitude, the focal length, the aperture and the shutter speed in the parameters of the cloud mirror are acquired; forming standard data for routing inspection and photographing of each section of the circuit according to the flight state of the aircraft and the cloud mirror information; and planning the flight path according to the standard data of the routing inspection photographing of each section of the line, and realizing the automatic routing inspection of the line. The invention also discloses a line inspection method, a line inspection standardized data acquisition device and a line inspection system.
Description
Technical Field
The invention belongs to the technical field of line inspection, and particularly relates to a standardized data acquisition method and system for line inspection.
Background
The unmanned aerial vehicle is a low-risk and low-cost aerial robot, and is widely applied to the military and civil fields. At present, the unmanned aerial vehicle is more and more common to patrol lines such as overhead transmission lines, railways, highways, oil and gas pipelines, riverways and water channels, and particularly, the unmanned aerial vehicle fully exerts the characteristics of flexibility, strong environmental adaptability and high patrol efficiency under the conditions of natural disaster outburst and abnormal climate, so that the unmanned aerial vehicle is widely applied to line patrol enterprises. Especially, the multi-rotor unmanned aerial vehicle has the advantages of simple structure, flexible control, vertical lifting and the like, and is used for polling the overhead transmission line. Many rotor unmanned aerial vehicle patrols and examines mainly carries on high definition camera and digital camera to carry out the defect detection that becomes more meticulous to transmission line, can improve the efficiency of patrolling and examining the operation personnel to a certain extent, has reduced the intensity of labour who patrols and examines the operation personnel.
Although many rotor unmanned aerial vehicle patrol and examine overhead transmission line and have obvious advantage, nevertheless through the popularization and application of a period, the problem that exists also more and more stands out in patrolling and examining, and the main problem has: when the multi-rotor unmanned aerial vehicle is used for patrolling a line, the operation is completed by manual control of ground operators, the labor intensity is high, and the requirement on the technical level of the operators is high; when the multi-rotor unmanned aerial vehicle is used for patrolling and examining lines and parts thereof, the data acquisition quality and precision are limited by the operation proficiency of ground operators, the acquired effective data are few, the angle difference of the data acquisition precision is large, and automatic interpretation cannot be realized; the existing operation mode can not realize the standardization of operation actions, the achievement precision can not be ensured, the achievement can not be reused, and the difference with the standardized operation requirement specified by an electric power system is large. In fact, the above problems are also present in line inspection processes for railways, highways, oil and gas pipelines, river channels, water channels, etc., in addition to overhead transmission lines.
In view of this, the embodiments of the present invention are intended to provide a method and a system for collecting standardized data of line inspection, which can solve the technical problem of implementing standardized inspection of a line by using an unmanned aerial vehicle.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a standardized data acquisition method for line inspection, which comprises the following steps:
dividing the line into N sections, setting data acquisition point positions according to the characteristics of each section of line, taking a picture at a preset point position and acquiring the flight state of the aircraft and the parameters of the cloud mirror corresponding to the picture;
forming standard data of inspection photographing of each section of the circuit according to the flight state of the aircraft and the parameters of the cloud mirror;
and planning a flight path according to the standard data of the inspection photographing of each section of the line, and realizing the automatic inspection of the power transmission line.
In the above scheme, according to the characteristics of each section of circuit, shoot the photo and gather aircraft flight state and the cloud mirror parameter that correspond with the photo on predetermineeing the point location and include:
three-dimensional position, three-dimensional velocity, and three-dimensional attitude information of the aircraft;
the three-dimensional attitude, the focal length value, the aperture value and the shutter speed of the cloud mirror.
In the above scheme, the formation of standardized data for each section of the line inspection photographing according to the flight state of the aircraft and the parameters of the cloud mirror comprises:
acquiring data at each shooting point, wherein the data comprises a shot picture, and an aircraft flight state and a cloud mirror parameter which are synchronously acquired with the picture, and the data acquired at all shooting points of each section of line is utilized to form standard data for inspection shooting of each section of line;
according to different characteristics of each section of line, different data acquisition point positions are set, and standardized data corresponding to each section of line are formed.
The embodiment of the invention provides a line inspection method, which comprises the following steps:
acquiring standardized data including photos, flight states of aircrafts and cloud mirror parameters at different shooting points of each section of line according to a line standardized data acquisition method;
and setting a routing inspection strategy when each part in the line is inspected according to the standardized data acquired at different shooting points of each section of line, wherein one section of line can form a routing inspection strategy combination, and routing inspection strategies of different sections of lines are different, so that a routing inspection method with one section of strategy is formed.
The embodiment of the invention provides a line inspection standardized data acquisition device, which comprises:
the data acquisition unit is used for taking pictures at different shooting points of a section of line and synchronously acquiring the flight state of the aircraft and the parameters of the cloud mirror corresponding to the pictures;
the data synthesis unit is used for synchronously shooting pictures at different shooting points of a section of line and acquiring the flight state of the aircraft and the parameters of the cloud mirror to form standardized data of the section of line;
and the data application unit is used for planning a flight path according to the standardized data of the section of line and the routing inspection strategy corresponding to the section of line and controlling the aircraft to automatically complete the acquisition of the routing inspection data.
In the above scheme, the data acquisition unit includes:
the imaging device can be a camera, a radar or a combination of the camera and the radar and is used for acquiring photos;
the aircraft state information acquisition unit is used for acquiring the three-dimensional position, the three-dimensional speed and the three-dimensional posture of the aircraft;
and the cloud mirror parameter acquisition unit is used for acquiring the three-dimensional attitude, the focal length value, the aperture value and the shutter speed of the cloud mirror.
In the foregoing solution, the data synthesis unit includes:
the same-section line data synthesis unit is used for forming standardized data of a section of line according to data collected at different shooting points of the same-section line;
and the different-section line data synthesis unit is used for forming standard data for the inspection of different sections of lines according to the characteristics of the different sections of lines and the inspection strategies corresponding to the different sections of lines.
In the above solution, the data application unit includes:
and the inspection data acquisition is used for planning the route of the inspection task according to the standardized data of the section of line, taking a picture by taking the standardized data as reference at a planning point position and acquiring the current flight state of the aircraft and the parameters of the cloud mirror corresponding to the picture.
The embodiment of the invention provides a line inspection system, which comprises:
the data acquisition subsystem is used for shooting pictures at different point positions of each section of the line and acquiring the flight state of the aircraft and the parameters of the cloud mirror corresponding to the pictures;
and the route planning and control subsystem is used for planning the routing inspection task route through the section of line and the routing inspection strategy corresponding to the section of line and controlling the aircraft to finish the automatic acquisition of the data of the routing inspection task.
According to the method and the system for acquiring the standardized data of the line inspection, provided by the embodiment of the invention, the aircraft line inspection operating personnel with abundant experience acquires clear pictures at the preset shooting points of a section of line and acquires the aircraft flight state and the cloud mirror parameters corresponding to the pictures to form the standardized data of the line inspection of the section of line, and the inspection strategies of different sections of lines are different to form the inspection method of one section of strategy; the inspection personnel plan the flight path of the task of patrolling and examining according to every section of circuit and the strategy of patrolling and examining that corresponds with this section of circuit to control unmanned aerial vehicle and regard standard data as the benchmark collection data on planning the position, including the photo of shooing and the current aircraft flight state and the cloud mirror parameter that correspond with the photo, reduce many rotor unmanned aerial vehicle and patrol and examine ground operating personnel human factor influence, obtain the data of patrolling and examining of high quality high accuracy, realize the automatic data acquisition of "one section of a strategy" that the transmission line was patrolled and examined.
Drawings
Fig. 1 is a flowchart of a standardized data acquisition method for line inspection according to embodiment 1 of the present invention;
fig. 2 is a schematic view of a composition structure of a data acquisition apparatus according to embodiment 3 of the present invention.
In order to clearly implement the structure of the embodiment of the present invention, the constitutional structure of the system is shown in the drawings, but this is only for illustrating the function and schematic requirement, and the present invention is not intended to be limited to the functional modules, and those skilled in the art can adjust or modify the functional modules and devices according to the specific requirement, and the adjustment or modification is still included in the scope of the appended claims.
Detailed Description
In the following description, various aspects of the present invention will be described. It will be apparent, however, to one skilled in the art that the present invention may be practiced with only some or all of the structures or processes of the present invention. Specific numbers, configurations and sequences are set forth in order to provide clarity of explanation, but it will be apparent that the invention may be practiced without these specific details. In other instances, well-known features have not been set forth in detail in order not to obscure the invention.
Example 1
In order to solve the technical problem that standardized data cannot be automatically acquired when an aircraft line is utilized, an embodiment of the invention provides a standardized data acquisition method for line inspection, and as shown in fig. 1, the method in the embodiment comprises the following steps:
step S101: dividing the line into N sections, setting data acquisition point positions according to the characteristics of each section of line, taking a picture at a preset point position and acquiring the flight state of the aircraft and the parameters of the cloud mirror corresponding to the picture;
in order to form standardized data of the routing inspection of one section of line, pictures are taken at different shooting points of one section of line, and three-dimensional position, three-dimensional speed and three-dimensional attitude information in the flight state information of the aircraft corresponding to the pictures and three-dimensional attitude, focal length value, aperture value and shutter speed in the cloud mirror parameters are collected.
Step S102: forming standard data of inspection photographing of each section of the circuit according to the flight state of the aircraft and the parameters of the cloud mirror;
acquiring data at each shooting point of a section of line, and forming standardized data of routing inspection shooting of the section of line by using the data acquired at all the shooting points of the section of line; according to different characteristics of each section of line, different data acquisition point positions are set, and standardized data corresponding to each section of line are formed.
Step S103: and planning a flight path according to the standard data of the inspection photographing of each section of the line, and realizing the automatic inspection of the power transmission line.
According to the characteristics of each section of line, setting data acquisition point positions for routing inspection of different components, taking a picture at each data acquisition point position, and synchronously acquiring a three-dimensional position, a three-dimensional speed and a three-dimensional attitude in the flight state of the aircraft corresponding to the picture and a three-dimensional attitude, a focal length value, an aperture value and a shutter speed in the parameters of a cloud mirror to form standardized data of the section of line; according to the standardized data of a section of line, an inspection operator utilizes a ground control system to carry out inspection task track planning to form inspection task track data, the inspection task track data controls an unmanned aerial vehicle to take pictures from each data acquisition point by taking the standardized data as a reference and synchronously acquire the three-dimensional position, the three-dimensional speed and the three-dimensional attitude in the flight state of the current aircraft and the three-dimensional attitude, the focal length value, the aperture value and the shutter speed in the cloud mirror parameters, so that the automatic acquisition of the line inspection data is completed, and the data with strong consistency with the standardized data can be obtained in each inspection, thereby laying a foundation for realizing the automatic interpretation of the defects of the line by a computer.
Example 2
The present embodiment is a line inspection method provided on the basis of the standardized data acquisition method for line inspection described in embodiment 1, and the method of the present embodiment includes:
step S201: through the line standardized data acquisition method in the embodiment 1, an experienced inspection operator controls the aircraft to acquire standardized data including photos, flight states of the aircraft and parameters of a cloud mirror at different point positions of a section of line;
setting different shooting point positions according to different characteristics of each section of line, and setting a routing inspection strategy for each part in the line, wherein one section of line can form a routing inspection strategy combination, and routing inspection strategies of different sections of lines are different; and the routing inspection operating personnel with abundant experience performs standardized data acquisition according to different strategies of different sections of lines to form standardized data for one-section one-strategy routing inspection.
Step S202: according to the standardized data of the one-section one-strategy routing inspection, routing planning is carried out on the aircraft by an inspection operator by using a ground control system before operation, the standardized data of each data acquisition point of each section of line is used as a reference value to control the aircraft to automatically acquire routing inspection data of the line, and the standardized automatic routing inspection of the one-section one-strategy line is realized.
The method has high automation degree, reduces the labor intensity of operators, and is weakly related to the technical level of the operators; the training cost of the user is saved, the application threshold is reduced, the requirement of industrial standardized operation is met, and meanwhile, the reliability of safe operation is improved.
Example 3
This embodiment provides a standardized data collecting apparatus for line inspection based on the standardized data collecting method for line inspection described in embodiment 1, and as shown in fig. 2, the apparatus of this embodiment includes:
the data acquisition unit 301 is used for acquiring the photos, three-dimensional positions, three-dimensional speeds and three-dimensional postures in the flight states of the aircraft synchronously acquired corresponding to the photos, and three-dimensional postures, focal length values, aperture values and shutter speeds in the parameters of the cloud mirror;
a data synthesis unit 302, configured to form normalized data of different segments of lines according to the normalized data of each segment of lines;
and the data application unit 303 is used for planning the flight path of the inspection task by using the ground control system according to the standardized data of the section of line, controlling the aircraft to shoot a picture at a planning point position according to the flight path of the inspection task and the given standard aircraft flight state and cloud mirror parameters, and recording the current aircraft flight state and cloud mirror parameters corresponding to the picture, so that the automatic acquisition of the line inspection task data and the automatic inspection of the line are realized.
Each component of the embodiment can be realized by additional equipment of the aircraft, and can also be realized by necessary sensor equipment of the aircraft; the device for taking a picture in this embodiment may be a camera, a radar, or a combination of the two; the camera can be a digital camera or a camera produced by the camera according to the requirement; the camera can be a single lens or a multi-lens; the focusing process of the camera can be automatic focusing or manual auxiliary focusing; when the camera focuses, the single lens can automatically focus first and then take a picture, or one auxiliary camera can finish automatic focusing, and the main camera finishes taking a picture.
Example 4
The present embodiment is a line inspection system provided on the basis of embodiments 1 to 3, the system including:
the data acquisition subsystem is used for shooting pictures at different point positions of each section of line and acquiring the flight state of the aircraft and the parameters of the cloud mirror corresponding to the pictures to form standardized data of one section of strategy line inspection; then, according to the flight path planning and control subsystem, automatic collection of routing inspection task data is completed;
and the route planning and control subsystem is used for planning the routing inspection task route according to the standardized data of the section of the line and the routing inspection strategy corresponding to the section of the line, and controlling the aircraft to finish the automatic acquisition of the routing inspection data according to the routing inspection task route.
It can be known from the description of the above embodiments 1 to 4 that the system and the inspection process for inspecting the line by using the aircraft include a one-section one-strategy inspection method, a line inspection data acquisition device and a line inspection system, the line inspection standardized data acquisition method according to the one-section one-strategy line inspection is adopted, the line inspection system and the line inspection data acquisition device are used for acquiring standardized data of line inspection, the route planning of the inspection task is performed according to the standardized data, the aircraft is controlled by the route of the inspection task to realize the automatic inspection of the line, data with strong consistency with the standardized data is obtained, and a foundation is laid for realizing the defect of the automatic interpretation component of the computer.
Example 5
To further illustrate the implementation of the embodiments of the present invention, the following detailed description of the invention is provided by way of an actual scenario.
In the embodiment, a quad-rotor unmanned aerial vehicle is taken as an example for polling an overhead transmission line, and the specific implementation steps of the invention are as follows:
(1) according to construction data or historical patrol data of the overhead transmission line, a patrol strategy of each base tower is formulated by a patrol operator with abundant experience, and the patrol strategy comprises the steps of setting a data acquisition point position, a data acquisition angle and a patrol sequence of the patrol point positions;
(2) the inspection operation personnel with rich experience controls the unmanned aerial vehicle, downloads videos in real time through a ground station as reference, repeatedly adjusts the flying attitude and shooting parameters, shoots a series of photos and collects the flying state information and cloud mirror parameters of the aircraft corresponding to the photos, wherein the flying state information and the cloud mirror parameters comprise the three-dimensional position (x, y, z), the three-dimensional speed (Vx, Vy, Vz) and the three-dimensional attitude (psi,
gamma) and three-dimensional attitude (phi, theta, k), focal length value f, aperture value g and shutter speed value h in the cloud mirror parameters;
(3) importing all data into a computer for manual analysis, selecting 1 optimal picture from a shooting point location according to the standard that focusing is accurate, a shot object is positioned in the center of a picture and details of the part are complete, and visually judging whether the part has external physical defects or not by visual observation, and taking the picture, the flight state of an aircraft corresponding to the picture and the parameters of a cloud mirror as standardized data of the shooting point location; synthesizing data collected from all polling point positions of a base tower according to the processing process to form standardized data of the base tower;
(4) according to the standardized data and the routing inspection strategy of each base tower, completing the route planning of the routing inspection task of each base tower by using a ground control system to form routing inspection task route planning data, and storing the routing inspection task route planning data in a computer;
(5) during routine inspection, loading the routing planning data of the inspection task of each base tower into a ground control system, and controlling the unmanned aerial vehicle to automatically complete the tower inspection task;
(6) according to the routing planning data of the routing inspection task, firstly controlling the unmanned aerial vehicle to fly to a preset data acquisition point position for hovering at a fixed height and a fixed point;
(8) the cloud mirror control system controls the camera to reach a given three-dimensional attitude (phi, theta, k) and a focal length value f, if the image acquisition device is a double-camera mode of a photographing camera and a positioning camera, the focal length of the camera is adjusted to a preset focal length value f, the positioning camera carries out consistency interpretation on the acquired image and standard image data, and the three-dimensional attitude (phi, theta, k) and the focal length value f of the camera are finely adjusted on the basis, so that the consistency of the inspection acquired image and the standard image is ensured; if the image acquisition device is in a single-camera mode, setting a plurality of levels of standard parameters near a standard focal length value, and performing consistency interpretation on a video image shot in real time and the standard image to finely adjust the three-dimensional attitude (phi, theta, k) and the focal length value f of the camera on the basis of the consistency interpretation, and gradually advancing and amplifying the focal length and automatically focusing the focal length to ensure the consistency of the polling acquired image and the standard image;
(9) recording the flight state information of the aircraft at the current moment corresponding to the picture and the parameters of the cloud mirror;
(10) importing routine inspection data into a data analysis computer, and performing consistency interpretation on the routine inspection data and the standardized data; on the basis, automatic interpretation and screening of the part defects are completed.
The invention has the advantages that: the routing inspection method comprises the steps that an experienced routing inspection operator sets routing inspection strategies of each section of line according to construction data or historical routing inspection data of each section of line, an unmanned aerial vehicle is controlled to collect data at each preset point position and form standardized data of routing inspection of each section of line, then routing planning of routing inspection tasks is completed through a ground control system, routing planning data of the routing inspection tasks are generated, and an ordinary routing inspection operator can control the unmanned aerial vehicle according to the routing inspection task planning route to complete automatic collection of routing inspection task data. The labor intensity of the operators is reduced, and the technical level of the operators is weakly related. The training cost of power consumers is saved, the application threshold is reduced, the requirements of industrial standard operation are met, and meanwhile, the operation efficiency and the reliability of safe production are improved.
The method of interpreting the consistency of the standardized data and the routine inspection data is a method which is well known and commonly used in the art, and the components of the line are also common knowledge in the art and will not be described in detail.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, for example: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. Furthermore, the coupling, direct coupling, or communication between the components shown or discussed may be through some interfaces, and the indirect coupling or communication between the devices or units may be electrical, mechanical, or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable Memory device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
The invention is suitable for the automatic inspection task data acquisition of overhead transmission lines, railways, highways, oil and gas pipelines, riverways, water channels and other lines and the automatic inspection of the lines. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (5)
1. A standardized data acquisition method for line inspection is characterized by comprising the following steps:
dividing the line into N sections, setting data acquisition point positions according to the characteristics of each section of line, taking a picture at a preset point position and acquiring the flight state of the aircraft and the parameters of the cloud mirror corresponding to the picture;
forming standard data of inspection photographing of each section of the circuit according to the flight state of the aircraft and the parameters of the cloud mirror;
acquiring data at each shooting point, wherein the data comprises a shot picture, and an aircraft flight state and a cloud mirror parameter which are synchronously acquired with the picture, and the data acquired at all shooting points of a section of line is utilized to form standardized data for routing inspection shooting of the section of line;
according to different characteristics of each section of line, setting different data acquisition point positions and forming standardized data corresponding to each section of line;
performing route planning according to the standard data of the routing inspection photographing of each section of the line, loading the routing planning data of the routing inspection task of each base tower into a ground control system during routine routing inspection, and controlling the unmanned aerial vehicle to automatically complete the tower routing inspection task so as to realize automatic routing inspection of the power transmission line;
importing routine inspection data into a data analysis computer, and performing consistency interpretation on the routine inspection data and the standardized data;
divide into N sections with the circuit, set up the data acquisition point location according to the characteristics of every section circuit, shoot the photo and gather aircraft flight state and the cloud mirror parameter that correspond with the photo on presetting the point location and include: three-dimensional position, three-dimensional velocity, and three-dimensional attitude information of the aircraft; the three-dimensional attitude, the focal length value, the aperture value and the shutter speed of the cloud mirror.
2. A line routing method, comprising:
the line standardized data acquisition method of claim 1 acquires standardized data including photographs, flight states of aircraft and cloud mirror parameters at different shooting points of each section of line;
according to the standardized data collected at different shooting points of the section of line, each part in the line is provided with an inspection strategy, one section of line can form an inspection strategy combination, and the inspection strategies of different sections of lines are different.
3. The utility model provides a standardized data acquisition device is patrolled and examined to circuit, its characterized in that, the device includes:
the data acquisition unit is used for synchronously shooting pictures at different shooting points of a section of line and acquiring the flight state of the aircraft and the parameters of the cloud mirror;
the data synthesis unit is used for synchronously shooting pictures at different shooting points of a section of line and acquiring the flight state of the aircraft and the parameters of the cloud mirror to form standardized data of the section of line inspection;
the data synthesis unit includes:
the same-section line data synthesis unit is used for forming standardized data of a section of line according to data collected at different shooting points of the same-section line;
the data synthesis unit of the different sections of lines is used for forming standard data for the inspection of the different sections of lines according to the characteristics of the different sections of lines and the inspection strategies corresponding to the different sections of lines;
the data application unit is used for planning a flight path according to the standard data of the routing inspection of the section of line and the routing inspection strategy corresponding to the section of line to form routing inspection task planning data, loading the routing inspection task flight path planning data of each base tower into a ground control system during routine routing inspection, controlling the unmanned aerial vehicle to automatically complete a tower routing inspection task, and controlling the aircraft to complete automatic acquisition of the line routing inspection data;
importing routine inspection data into a data analysis computer, and performing consistency interpretation on the routine inspection data and the standardized data;
the data acquisition unit includes: the imaging device is provided with a camera or a radar or a combination of the camera and the radar and is used for acquiring photos; the aircraft state information acquisition unit is used for acquiring the three-dimensional position, the three-dimensional speed and the three-dimensional posture of the aircraft; and the cloud mirror parameter acquisition unit is used for acquiring the three-dimensional attitude, the focal length value, the aperture value and the shutter speed of the cloud mirror.
4. The line inspection standardized data collecting device according to claim 3, wherein the data applying unit includes:
and the inspection data acquisition is used for shooting a picture of the aircraft at a planning point position according to the standardized data of the section of line and the given standard aircraft flight state and cloud mirror parameters and recording the current aircraft flight state and cloud mirror parameters corresponding to the picture.
5. A line inspection system, the system comprising:
the line inspection standardized data acquisition device of any one of claims 3 to 4 forms a data acquisition subsystem for taking pictures at different points of each section of line and acquiring the flight state of the aircraft and the cloud mirror parameters corresponding to the pictures;
and the route planning and control subsystem is used for planning the routing inspection task route through the section of line and the routing inspection strategy corresponding to the section of line and controlling the aircraft to finish the automatic acquisition of the route routing inspection data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510504379.4A CN106468918B (en) | 2015-08-18 | 2015-08-18 | Standardized data acquisition method and system for line inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510504379.4A CN106468918B (en) | 2015-08-18 | 2015-08-18 | Standardized data acquisition method and system for line inspection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106468918A CN106468918A (en) | 2017-03-01 |
| CN106468918B true CN106468918B (en) | 2020-03-20 |
Family
ID=58213857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510504379.4A Active CN106468918B (en) | 2015-08-18 | 2015-08-18 | Standardized data acquisition method and system for line inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106468918B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113791641B (en) * | 2017-04-28 | 2024-06-18 | 深圳市大疆创新科技有限公司 | Facility detection method and control equipment based on aircraft |
| CN107145156A (en) * | 2017-05-02 | 2017-09-08 | 国网青海省电力公司海南供电公司 | A kind of power network method for inspecting and system based on unmanned plane |
| CN108983806B (en) * | 2017-06-01 | 2022-09-16 | 菜鸟智能物流控股有限公司 | Method and system for generating area detection and air route planning data and aircraft |
| CN107402580B (en) * | 2017-07-18 | 2021-01-29 | 国家电网公司 | Unmanned aerial vehicle-based power grid inspection automation method |
| CN109120845B (en) * | 2018-07-18 | 2021-05-28 | 广东数相智能科技有限公司 | Multi-focal-length image shooting method, electronic equipment and storage medium |
| CN109141434A (en) * | 2018-09-21 | 2019-01-04 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of unmanned plane patrolled and examined track acquisition methods based on laser point cloud data |
| WO2020147085A1 (en) * | 2019-01-17 | 2020-07-23 | 深圳市大疆创新科技有限公司 | Photographing control method and movable platform |
| CN111316185A (en) * | 2019-02-26 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Inspection control method of movable platform and movable platform |
| CN109901625B (en) * | 2019-04-11 | 2022-10-25 | 株洲时代电子技术有限公司 | Bridge inspection system |
| CN110737798B (en) * | 2019-09-26 | 2022-10-14 | 万翼科技有限公司 | Indoor inspection method and related product |
| CN111045874B (en) * | 2019-10-31 | 2023-05-12 | 北京航天自动控制研究所 | Universal method for modeling solving flow step data interpretation by test initiation control software |
| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
| CN112859905A (en) * | 2019-11-28 | 2021-05-28 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle inspection route generation method and device for overhead power line and unmanned aerial vehicle |
| CN111539919B (en) * | 2020-04-16 | 2021-07-23 | 北京中关村智连安全科学研究院有限公司 | Method and device for judging position and routing inspection of tower part |
| CN113874806A (en) * | 2020-04-24 | 2021-12-31 | 深圳市大疆创新科技有限公司 | Trajectory generation method, remote control terminal, movable platform, system and computer-readable storage medium |
| CN113065763B (en) * | 2021-03-31 | 2023-07-18 | 广东电网有限责任公司 | Intelligent patrol plan generation method, equipment and storage medium based on multi-source information |
| CN114326771A (en) * | 2021-12-31 | 2022-04-12 | 国网湖北省电力有限公司超高压公司 | Unmanned aerial vehicle shooting route generation method and system based on image recognition |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101477169A (en) * | 2009-01-16 | 2009-07-08 | 华北电力大学 | Electric power circuit detection method by polling flying robot |
| CN103235830A (en) * | 2013-05-13 | 2013-08-07 | 北京臻迪科技有限公司 | Unmanned aerial vehicle (UAV)-based electric power line patrol method and device and UAV |
| CN103606852A (en) * | 2013-11-26 | 2014-02-26 | 广东电网公司电力科学研究院 | Power line inspection method of unmanned helicopter |
| CN104536460A (en) * | 2014-12-31 | 2015-04-22 | 国家电网公司 | Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8509982B2 (en) * | 2010-10-05 | 2013-08-13 | Google Inc. | Zone driving |
-
2015
- 2015-08-18 CN CN201510504379.4A patent/CN106468918B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101477169A (en) * | 2009-01-16 | 2009-07-08 | 华北电力大学 | Electric power circuit detection method by polling flying robot |
| CN103235830A (en) * | 2013-05-13 | 2013-08-07 | 北京臻迪科技有限公司 | Unmanned aerial vehicle (UAV)-based electric power line patrol method and device and UAV |
| CN103606852A (en) * | 2013-11-26 | 2014-02-26 | 广东电网公司电力科学研究院 | Power line inspection method of unmanned helicopter |
| CN104536460A (en) * | 2014-12-31 | 2015-04-22 | 国家电网公司 | Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 一种新型电力巡线固定翼无人机;加鹤萍，张建成，杨启帆，黄世龙，邵翔;《2013电力系统自动化专委会学术交流研讨会论文集》;20140609;第3.2节 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106468918A (en) | 2017-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106468918B (en) | Standardized data acquisition method and system for line inspection | |
| CN112164015B (en) | Monocular vision autonomous inspection image acquisition method and device and power inspection unmanned aerial vehicle | |
| CN109002055B (en) | High-precision automatic inspection method and system based on unmanned aerial vehicle | |
| US11017228B2 (en) | Method and arrangement for condition monitoring of an installation with operating means | |
| JP7045030B2 (en) | Inspection system, inspection method, server equipment, and program | |
| Khan et al. | Unmanned aerial vehicle–based traffic analysis: Methodological framework for automated multivehicle trajectory extraction | |
| JP6569114B2 (en) | Inspection system and inspection method | |
| WO2018195955A1 (en) | Aircraft-based facility detection method and control device | |
| WO2018056498A1 (en) | Transmission line electromagnetic field and instantaneous inspection image acquisition device and method | |
| CN108803668A (en) | A kind of intelligent patrol detection unmanned plane Towed bird system of static object monitoring | |
| CN105700544A (en) | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station | |
| EP3596570B1 (en) | Method for determining a path along an object, system and method for automatic inspecting an object | |
| US20170142309A1 (en) | Imaging apparatus and imaging method | |
| CN104118561B (en) | Method for monitoring large endangered wild animals based on unmanned aerial vehicle technology | |
| CN107635126A (en) | For the system and method for the enhancing three-dimensional video-frequency for generating aircraft construction process | |
| CN102654940A (en) | Traffic information acquisition system based on unmanned aerial vehicle and processing method of traffic information acquisition system | |
| CN112327906A (en) | Intelligent automatic inspection system based on unmanned aerial vehicle | |
| CN112859905A (en) | Unmanned aerial vehicle inspection route generation method and device for overhead power line and unmanned aerial vehicle | |
| CN112162565B (en) | Uninterrupted self-main-pole tower inspection method based on multi-machine collaborative operation | |
| CN113900436B (en) | Inspection control method, inspection control device, inspection control equipment and storage medium | |
| CN106231191A (en) | Full-automatic aerial panoramic view data acquisition system, method and control terminal | |
| CN109643131A (en) | Unmanned plane, its control method and recording medium | |
| CN106292126A (en) | A kind of intelligence aerial survey flight exposal control method, unmanned aerial vehicle (UAV) control method and terminal | |
| JP2024027907A (en) | Unmanned aerial vehicle, and, inspection system of wind power generation equipment, and inspection method of wind power generation equipment | |
| CN114035606A (en) | Pole tower inspection system, pole tower inspection method, control device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DD01 | Delivery of document by public notice |
Addressee: Aerospace prospect (Beijing) Technology Co., Ltd. Document name: Notification of Passing Examination on Formalities |
|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| DD01 | Delivery of document by public notice |
Addressee: Aerospace prospect (Beijing) Technology Co., Ltd. Document name: Notification of Passing Examination on Formalities |
|
| DD01 | Delivery of document by public notice | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |