CN106950996A - One kind is based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system - Google Patents
One kind is based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system Download PDFInfo
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- CN106950996A CN106950996A CN201710322916.2A CN201710322916A CN106950996A CN 106950996 A CN106950996 A CN 106950996A CN 201710322916 A CN201710322916 A CN 201710322916A CN 106950996 A CN106950996 A CN 106950996A
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- unmanned plane
- binocular vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
Unmanned plane railway high-tension bus-bar inspection obstacle avoidance system is based on the invention discloses one kind, including unmanned plane carry, binocular vision acquisition module, flight control system, automatic obstacle-avoiding module, 4G transport modules, image screenshotss processing module, human-computer interaction interface and three-dimensional modeling display module, the binocular vision acquisition module is connected with unmanned plane carry, the automatic obstacle-avoiding module is connected with flight control system, on the one hand the flight control system is connected with binocular vision acquisition module, on the other hand it is connected with human-computer interaction interface, the 4G transport modules are connected with binocular vision acquisition module, described image screenshotss processing module is connected with 4G transport modules, the human-computer interaction interface is connected with image screenshotss processing module, the three-dimensional modeling display module is connected with human-computer interaction interface, for carrying out inspection to the high-voltage line on high-speed railway, substitute artificial inspection work.
Description
Technical field
It is specifically, high based on unmanned plane railway the present invention relates to one kind the invention belongs to unmanned plane inspection technical field
Piezoelectric wire inspection obstacle avoidance system.
Background technology
With the continuous quickening of China's modernization construction paces, the mileage of high-speed railway is increasingly longer, therewith high-speed railway
On high-voltage line it is also increasingly longer, to high-speed iron land line survey monitoring task increasingly weigh, at present on high-speed railway
High-voltage line survey monitoring be all that electrical power line inspector is artificially checked along high-speed railway because in order to maintain high-speed railway
It is to carry high-tension electricity always on normal operation, circuit, so the life security to inspection workman brings potential threat, it is high in addition
Fast railway comes and goes in great number, and speed quickly, also can bring threat to the life security of electrical power line inspector.
The content of the invention
The present invention provides a kind of based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system, for the height on high-speed railway
Line ball carries out inspection, substitutes artificial inspection work.
To achieve these goals, the technical scheme taken of the present invention is：One kind is patrolled based on unmanned plane railway high-tension bus-bar
Examine obstacle avoidance system, including unmanned plane carry, binocular vision acquisition module, flight control system, automatic obstacle-avoiding module, 4G transmission mould
Block, image screenshotss processing module, human-computer interaction interface and three-dimensional modeling display module, the binocular vision acquisition module and nobody
Machine carry is connected, and the automatic obstacle-avoiding module is connected with flight control system, the flight control system one side and binocular vision
Feel acquisition module connection, be on the other hand connected with human-computer interaction interface, the 4G transport modules connect with binocular vision acquisition module
Connect, described image screenshotss processing module is connected with 4G transport modules, the human-computer interaction interface connects with image screenshotss processing module
Connect, the three-dimensional modeling display module is connected with human-computer interaction interface.
It is preferred that, OPENTK image identification systems are provided with described image screenshotss processing module.
It is preferred that, the binocular vision acquisition module and automatic obstacle-avoiding module data chain intercommunication, and in automatic obstacle-avoiding module
In be provided with obstacle avoidance algorithm module.
Beneficial effect using above technical scheme is：Unmanned plane railway high-tension bus-bar inspection obstacle avoidance system should be based on, was led to
Cross the binocular vision acquisition module of unmanned plane carry comprehensive image is carried out to the high-voltage line and shaft tower of line of high-speed railway and adopt
Collection, then passes to image screenshotss processing module, image screenshotss processing module by the image information of collection by 4G transport modules
Whether the image of collection is identified the OPENTK image identification systems of the inside, i.e., damaged to the cable on high-voltage line.Around
Distance, stockbridge damper position of trees Distance High Voltage Electricity Transfer etc. are identified, and the problem of will identify that image interception is preserved, then
The problem of being intercepted image can be inquired about in human-computer interaction interface, it is convenient to arrange related personnel to carry out repairing exclusion defect, realize
Inspection is carried out to the high-voltage line on high-speed railway, artificial inspection work is substituted；The automatic obstacle-avoiding module is adopted by binocular vision
Aircraft and the distance of barrier that collection module is collected are transferred to the obstacle avoidance algorithm module in automatic obstacle-avoiding module by Data-Link
Obstacle avoidance algorithm processing is carried out, and the distance of front obstacle is shown in human-computer interaction interface, this distance can be in advance man-machine
Interactive interface is set, and when distance is less than or closes on safe distance, unmanned plane can be made under the control of flight control system
Make corresponding avoidance measure for example：Hover and alarm；The three-dimensional modeling display module is entered by the view data sent back
The structure and cable of every grade of tower are constructed a whole line map by the three-dimensional modeling of row.
Brief description of the drawings
Fig. 1 is the unmanned plane railway high-tension bus-bar inspection obstacle avoidance system control block diagram.
Embodiment
Below against accompanying drawing, by the description to embodiment, the embodiment to the present invention makees further details of
Explanation, it is therefore an objective to help those skilled in the art to the present invention design, technical scheme have more complete, accurate and deep reason
Solution, and contribute to it to implement.
As shown in figure 1, the present invention is a kind of based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system, for high-speed iron
High-voltage line on road carries out inspection, substitutes artificial inspection work.
Specifically, as shown in figure 1, including unmanned plane carry, binocular vision acquisition module, flight control system, automatic
Avoidance module, 4G transport modules, image screenshotss processing module, human-computer interaction interface and three-dimensional modeling display module, the binocular
Vision collecting module is connected with unmanned plane carry, and the automatic obstacle-avoiding module is connected with flight control system, the flight control
System on the one hand be connected with binocular vision acquisition module, be on the other hand connected with human-computer interaction interface, the 4G transport modules and
Binocular vision acquisition module is connected, and described image screenshotss processing module is connected with 4G transport modules, the human-computer interaction interface and
Image screenshotss processing module is connected, and the three-dimensional modeling display module is connected with human-computer interaction interface.
OPENTK image identification systems are provided with described image screenshotss processing module.
The binocular vision acquisition module and automatic obstacle-avoiding module data chain intercommunication, and provided with keeping away in automatic obstacle-avoiding module
Hinder algoritic module.
Specific works mode is illustrated with specific embodiment below：
Unmanned plane railway high-tension bus-bar inspection obstacle avoidance system should be based on, passes through the binocular vision acquisition module of unmanned plane carry
High-voltage line and shaft tower to line of high-speed railway carry out comprehensive IMAQ, then pass the image information of collection by 4G
Defeated module passes to OPENTK image identification systems inside image screenshotss processing module, image screenshotss processing module to collection
Whether image is identified, i.e., damaged to the cable on high-voltage line.Distance, stockbridge damper position of surrounding trees Distance High Voltage Electricity Transfer etc.
It is identified, the problem of will identify that image interception is preserved, then can inquires about asking of being intercepted in human-computer interaction interface
Image is inscribed, it is convenient to arrange related personnel's progress repairing to exclude defect, realize and inspection, replacement are carried out to the high-voltage line on high-speed railway
Artificial inspection work；The aircraft and the distance of barrier that the automatic obstacle-avoiding module is collected by binocular vision acquisition module lead to
The obstacle avoidance algorithm module progress obstacle avoidance algorithm processing that Data-Link is transferred in automatic obstacle-avoiding module is crossed, and in human-computer interaction interface
The distance of front obstacle is shown, this distance can be set in human-computer interaction interface in advance, when distance is less than or closed on safety
Apart from when, unmanned plane can make corresponding avoidance measure for example under the control of flight control system：Hover and alarm；Institute
State three-dimensional modeling display module three-dimensional modeling is carried out by the view data sent back and the structure and cable of every grade of tower are built
Go out a whole line map.
The operating efficiency of inspection workman person can be improved by this system, security performance is improved, the standard of case study is improved
Exactness, and precautionary measures efficiency of the practice, the composition of whole circuit can be seen by human-computer interaction interface, is conducive to researcher
Post analysis and investigation.
The present invention is exemplarily described above in association with accompanying drawing, it is clear that the present invention is implemented not by above-mentioned side
The limitation of formula, as long as employ the improvement for the various unsubstantialities that method of the present invention design and technical scheme are carried out；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (3)
1. one kind is based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system, it is characterised in that：Including unmanned plane carry, binocular vision
Feel acquisition module, flight control system, automatic obstacle-avoiding module, 4G transport modules, image screenshotss processing module, human-computer interaction interface
With three-dimensional modeling display module, the binocular vision acquisition module is connected with unmanned plane carry, and the automatic obstacle-avoiding module is with flying
Row control system is connected, and on the one hand the flight control system is connected with binocular vision acquisition module, on the other hand with man-machine friendship
Mutual interface connection, the 4G transport modules are connected with binocular vision acquisition module, and described image screenshotss processing module is transmitted with 4G
Module is connected, and the human-computer interaction interface is connected with image screenshotss processing module, the three-dimensional modeling display module and man-machine friendship
Mutual interface connection.
2. it is according to claim 1 a kind of based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system, it is characterised in that：Institute
State and OPENTK image identification systems are provided with image screenshotss processing module.
3. it is according to claim 1 a kind of based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system, it is characterised in that：Institute
Binocular vision acquisition module and automatic obstacle-avoiding module data chain intercommunication are stated, and provided with obstacle avoidance algorithm mould in automatic obstacle-avoiding module
Block.
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| CN201710322916.2A CN106950996A (en) | 2017-05-09 | 2017-05-09 | One kind is based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system |
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| CN201710322916.2A CN106950996A (en) | 2017-05-09 | 2017-05-09 | One kind is based on unmanned plane railway high-tension bus-bar inspection obstacle avoidance system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108921132A (en) * | 2018-07-27 | 2018-11-30 | 广东电网有限责任公司 | Unmanned aerial vehicle onboard cable detection system |
| CN110706365A (en) * | 2019-09-30 | 2020-01-17 | 贵州电网有限责任公司 | Image characteristic data modeling method for power equipment |
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| CN101986114A (en) * | 2010-08-26 | 2011-03-16 | 中电国科(北京)科技有限公司 | Photoelectric detection system and method for transmission lines |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
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| CN101986114A (en) * | 2010-08-26 | 2011-03-16 | 中电国科(北京)科技有限公司 | Photoelectric detection system and method for transmission lines |
| CN103941746A (en) * | 2014-03-29 | 2014-07-23 | 国家电网公司 | System and method for processing unmanned aerial vehicle polling image |
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| CN108921132A (en) * | 2018-07-27 | 2018-11-30 | 广东电网有限责任公司 | Unmanned aerial vehicle onboard cable detection system |
| CN110706365A (en) * | 2019-09-30 | 2020-01-17 | 贵州电网有限责任公司 | Image characteristic data modeling method for power equipment |
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Application publication date: 20170714 |