CN108881841A - Power transmission line intelligent identifying system and method based on helicopter platform - Google Patents
Power transmission line intelligent identifying system and method based on helicopter platform Download PDFInfo
- Publication number
- CN108881841A CN108881841A CN201810717872.8A CN201810717872A CN108881841A CN 108881841 A CN108881841 A CN 108881841A CN 201810717872 A CN201810717872 A CN 201810717872A CN 108881841 A CN108881841 A CN 108881841A
- Authority
- CN
- China
- Prior art keywords
- gondola
- identified
- shaft tower
- gesture stability
- image
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- 238000013135 deep learning Methods 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 230000002950 deficient Effects 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000007547 defect Effects 0.000 description 32
- 238000007689 inspection Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 239000012212 insulator Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 210000000056 organ Anatomy 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 208000028831 congenital heart disease Diseases 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention provides a kind of power transmission line intelligent identifying system and method based on helicopter platform, including：Gondola gesture stability terminal generates and sends gondola gesture stability information to pod control system；Gondola gesture stability information is sent to gondola by pod control system；High definition industrial camera in gondola obtains the panoramic picture of shaft tower to be identified, its high-definition camera obtains the image of same shaft tower to be identified, its gondola posture control circuit controls the change of gondola posture according to gondola gesture stability information, and gyrostabilization unit stablizes the optical axis of high definition industrial camera, high-definition camera；Pod control system receives and panoramic picture and image is sent to monitor；Monitor is monitored shaft tower to be identified according to panoramic picture and image；Industrial personal computer receives and analyzes panoramic picture.The present invention combines high-definition image Quick Acquisition technology and digital image recognition technology based on deep learning, solves two big technical problems of helicopter intelligent patrol detection.
Description
Technical field
The present invention relates to helicopter and image identification technical field, in particular to a kind of power transmission line based on helicopter platform
Road intelligent identifying system and method.
Background technique
The O&M mode of traditional transmission line of electricity mostly uses manual patrol operation mode.Line attendant will rely on ground
The vehicles or pad it, using General Instrument or naked eyes come line walking inspection, processing equipment defect, great work intensity, efficiency
Low, ground observation visual angle is limited, human cost and risk are high.In conjunction with Chinese transmission line of electricity structure design the characteristics of, it is tiny
Pin class defect it is more, it is therefore necessary to by the way of refining inspection, the tower head of iron tower of power transmission line is carried out comprehensive
It makes an inspection tour.
Based on this, researcher proposes a kind of helicopter intelligent patrol detection mode.Helicopter intelligent patrol detection refers to perambulator
Member is used as platform using helicopter, using visible light and it is infrared it is equal make an inspection tour equipment to transmission line of electricity progress walkaround inspection it is a kind of entirely
New line walking technology.For relatively artificial line walking, it is excellent that helicopter Intelligent line patrolling has that work efficiency is high, the souding upper-air observation visual field is good etc.
Gesture, it can be achieved that tiny defect lookup and identification.
But helicopter routing inspection mode equally exists some disadvantages：Helicopter intelligent patrol detection requires pole for pictorial information
Height, pictorial information are required to cover information in entire tower head and shelves, it is desirable that defect information is clearly accurate, but routine is gone straight up at present
The image of machine intelligent patrol detection and the collection process of video are based on manually acquiring, and walking operation personnel still need to undertake a large amount of people
Power work, working efficiency is low, large labor intensity.Therefore transmission line of electricity defect is various, substantial amounts, position are complicated and helicopter
In the case where not hovering, how high speed high definition panorama multi-angle realizes that on-board data acquisition becomes the primary of helicopter intelligent patrol detection
Problem.
Summary of the invention
The embodiment of the invention provides a kind of power transmission line intelligent identifying system and method based on helicopter platform, can be with
In the case where helicopter does not hover, high speed high definition panorama multi-angle realizes on-board data acquisition.
The power transmission line intelligent identifying system based on helicopter platform includes：Gondola, pod control system, monitor,
Gondola gesture stability terminal and industrial personal computer, wherein the gondola is installed on outside helicopter platform, the pod control system, prison
Visual organ, gondola gesture stability terminal and industrial personal computer are installed on helicopter engine room inside；Gondola is connect with pod control system, gondola
Control system is connect with monitor and gondola gesture stability terminal respectively, and gondola is connect with industrial personal computer；
Wherein, the gondola gesture stability terminal is used for：Gondola gesture stability information is generated, and is sent to the gondola control
System processed；
The pod control system is used for：It receives and the gondola gesture stability information is sent to the gondola；
The gondola includes high definition industrial camera, high-definition camera, gondola posture control circuit and gyrostabilization unit；
The high definition industrial camera is used for：Obtain the panoramic picture of shaft tower to be identified；
The high-definition camera is used for：Obtain the image of same shaft tower to be identified, the high definition industrial camera and the height
Clear camera is coaxial；
The gondola posture control circuit is used for：The change of gondola posture is controlled according to gondola gesture stability information；
The gyrostabilization unit is used for：The optical axis of high definition industrial camera, high-definition camera is stablized；
The pod control system is also used to：It receives and by the panoramic picture of the shaft tower to be identified and the bar to be identified
The image of tower is sent to the monitor；
The monitor is used for：It is treated according to the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
Identification shaft tower is monitored；
The industrial personal computer is used for：The panoramic picture for receiving the shaft tower to be identified, to the panorama sketch of the shaft tower to be identified
As being analyzed.
The power transmission line intelligent recognition methods based on helicopter platform includes：
Gondola gesture stability terminal generates gondola gesture stability information, and is sent to pod control system；
Pod control system receives the gondola gesture stability information, and the gondola gesture stability information is sent to and is hung
Cabin；
Gondola posture control circuit in gondola controls the change of gondola posture according to gondola gesture stability information；
Gyrostabilization unit in gondola stablizes the optical axis of high definition industrial camera, high-definition camera；
High definition industrial camera in gondola obtains the panoramic picture of shaft tower to be identified；
High-definition camera in gondola obtains the image of same shaft tower to be identified, the high definition industrial camera and the high definition
Camera is coaxial；
Pod control system receives and passes the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
It send to monitor；
Monitor is according to the panoramic picture of the shaft tower to be identified and the image of the shaft tower to be identified to shaft tower to be identified
It is monitored；
Industrial personal computer receives the panoramic picture of the shaft tower to be identified, divides the panoramic picture of the shaft tower to be identified
Analysis；
Wherein, the gondola is installed on outside helicopter platform, the pod control system, monitor, gondola gesture stability
Terminal and industrial personal computer are installed on helicopter engine room inside；Gondola is connect with pod control system, pod control system respectively with prison
Visual organ is connected with gondola gesture stability terminal, and gondola is connect with industrial personal computer.
In embodiments of the present invention, bar to be identified is obtained by the high definition industrial camera and high-definition camera that are installed on gondola
The panoramic picture and image of tower supervise shaft tower to be identified according to the panoramic picture and image of shaft tower to be identified by monitor
Control, is analyzed by panoramic picture of the industrial personal computer to shaft tower to be identified.It can not be hovered in helicopter using the present invention program
In the case where, high speed high definition panorama multi-angle realizes on-board data acquisition, solves the primary problem of helicopter intelligent patrol detection.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of power transmission line intelligent identifying system structural frames based on helicopter platform provided in an embodiment of the present invention
Figure；
Fig. 2 is the panoramic pictures acquisition method schematic diagram (top view) provided in an embodiment of the present invention that do not hover；
Fig. 3 is a kind of panoramic pictures provided in an embodiment of the present invention recognizer flow chart step by step；
Fig. 4 is a kind of power transmission line intelligent recognition methods process based on helicopter platform provided in an embodiment of the present invention
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In embodiments of the present invention, it is based on first problem existing in the prior art, the present invention provides one kind to be based on
The power transmission line intelligent identifying system of helicopter platform, the system combine high-definition image Quick Acquisition technology, as shown in Figure 1,
The system includes：Gondola, pod control system, monitor, gondola gesture stability terminal and industrial personal computer, wherein the gondola peace
Outside loaded on helicopter platform, the pod control system, monitor, gondola gesture stability terminal and industrial personal computer are installed on helicopter
Engine room inside；Gondola is connect with pod control system, and pod control system connects with monitor and gondola gesture stability terminal respectively
It connects, gondola is connect with industrial personal computer；
Wherein, the gondola gesture stability terminal is used for：Gondola gesture stability information is generated, and is sent to the gondola control
System processed；
The pod control system is used for：It receives and the gondola gesture stability information is sent to the gondola；
The gondola includes high definition industrial camera, high-definition camera, gondola posture control circuit and gyrostabilization unit；
The high definition industrial camera is used for：The panoramic picture for obtaining shaft tower to be identified, realize shaft tower high definition, quickly, it is more
Angle imaging；
The high-definition camera is used for：Obtain the image of same shaft tower to be identified, the high definition industrial camera and the height
Clear camera is coaxial, guarantees the same target tracking with high definition industrial camera；
The gondola posture control circuit is used for：The change of gondola posture is controlled according to gondola gesture stability information；
The gyrostabilization unit is used for：The optical axis of high definition industrial camera, high-definition camera is stablized, it is clear to obtain
Clear image；
The pod control system is also used to：It receives and by the panoramic picture of the shaft tower to be identified and the bar to be identified
The image of tower is sent to the monitor；
The monitor is used for：It is treated according to the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
Identification shaft tower is monitored, and realizes the alignment to photographic subjects；
The industrial personal computer is used for：The panoramic picture for receiving the shaft tower to be identified, to the panorama sketch of the shaft tower to be identified
As being analyzed.
As shown in Figure 1, in embodiments of the present invention, when only including these visible lights of high definition industrial camera, high-definition camera
Equipment when, the pod control system may include data reception module, document format conversion module and gesture stability module；
Wherein, data reception module is used for：Receive the panoramic picture and the shaft tower to be identified of the shaft tower to be identified
Image；
The document format conversion module is used for：By the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
Video conversion is at the monitor (for visible optical monitor) identifiable format；
The gesture stability module is used for：The gondola gesture stability information is received, and the gondola gesture stability is believed
Breath is sent to the gondola.
Certainly, the gondola can also include thermal camera and/or Laser Scanning Equipment.Wherein, thermal camera is used
In the panorama infrared image for obtaining shaft tower to be identified；Laser Scanning Equipment is used to obtain the panorama laser scanning figure of shaft tower to be identified
Picture.At this point, it can also include infrared ray monitoring device and/or laser watch-dog that monitor is corresponding.
When including the monitor of a variety of patterns, the corresponding pod control system may include at data receiver distribution
Manage module, multiple document format conversion modules and gesture stability module；
Wherein, the data receiver allocation processing module is used for：Receive the shaft tower to be identified panoramic picture, it is described to
Identify image, the panorama infrared image of the shaft tower to be identified and the panorama laser scanning figure of the shaft tower to be identified of shaft tower
Picture, the panorama of the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified, the shaft tower to be identified is infrared
Image, the panorama laser scanning image of the shaft tower to be identified, distribution output to corresponding document format conversion module；
The multiple document format conversion module is used for：Corresponding image is received to format；
The gesture stability module is used for：The gondola gesture stability information is received, and the gondola gesture stability is believed
Breath is sent to the gondola.
In embodiments of the present invention, as shown in Figure 1, the pod control system can also include power distribution module, with
Power supply, the monitor in helicopter cabin are connected with the gondola gesture stability terminal；
The power distribution module is used for：It is supplied by the power supply to the monitor and the gondola gesture stability terminal
Electricity.
In embodiments of the present invention, there is also following disadvantages for helicopter routing inspection mode：Helicopter fining boat, which patrols data, to be had
Not in other defect image data, every picture is required to cover entire tower head, and pin locally needs clean mark, pixel map
Piece contains much information, and needs panorama to extract part and is analyzed.Tiny pin grade defect is in different illumination, angle, position, gas
Under the conditions of equal, in addition complicated background, performance of these defects on picture will be different, are easy to cause defect over-fitting.
And early stage pure helicopter walking operation relies on completely the identification of defect picture and determining defects the experience of patrol officer, equally
Walking operation personnel still need to undertake a large amount of manual works, and working efficiency is low, large labor intensity.Although introducing traditional images later
Identification technology, but the technology needs given characteristic value and threshold value, arithmetic accuracy is low, and scene adaptability is poor, generalization is poor.
Defect high-precision how is completed using image recognition algorithm accurately identifies second difficult point as helicopter intelligent patrol detection.
Based on this, the defect picture analytical technology based on deep learning algorithm proposed by the present invention, and with above-mentioned height
Clear Image Quick Collection technology combines.Defect picture analytical technology based on deep learning algorithm is realized using industrial personal computer.
Specifically, industrial personal computer is specifically used for：
The panoramic picture of the shaft tower to be identified is analyzed as follows：
Primary identification is carried out to the panoramic picture of the shaft tower to be identified, obtains the figure containing defective shaft tower to be identified
Picture；
Using deep learning algorithm, the image containing defective shaft tower to be identified is analyzed.
Industrial personal computer is also used to：Industrial camera parameter is set, the industrial camera parameter is sent to the high definition industry phase
Machine；
The high definition industrial camera is also used to：Parameter setting is carried out according to the industrial camera parameter.
That is, the major function of industrial personal computer is panoramic pictures storage, picture processing analysis, industrial camera control.It is internally integrated
Interactive software realizes the functions such as industrial camera parameter setting, shooting control, picture processing analysis.Inside interactive software
Integrated deep learning algorithm (panoramic pictures step by step recognizer) relies on industrial personal computer hardware environment, it can be achieved that pan-shot picture
The identification of defect primary, defect picture browsing.The identification of defect primary mainly will contain defective picture from whole panoramic pictures
It separating, carrying out depth analysis convenient for migrating defective data storage to data center, realize data Ll screening；Defect map
Piece browsing function guarantees the order of accuarcy of data convenient for manually being checked at the scene.
Data processing link includes two-stage calculation, and level-one operation is live defective data primary identification scene screening, can be had
Effect reduces Data Migration amount；Second level operation is data depth analysis, and helicopter operation field Data Migration to data center is led to
The links such as depth learning algorithm carries out defect data analysis, defect calibration is associated with same name defect are crossed, realize individual defect picture
Judgement is associated with same name defect between plurality of pictures.
Panoramic pictures of not hovering specifically acquisition and data are analyzed as follows：
As shown in Fig. 2, helicopter flight track is to be parallel to the trend of transmission line of electricity to fly, flying height is to go straight up to
Machine blade is concordant in ground wire, and helicopter low speed is not by hovering.The line and cross-arm extended line of helicopter and cross-arm central point it
Between on=45 ° of angle α when, starting camera starts to shoot, and terminates to shoot as α off=-45 °, and whole process is using staring tower head
Form shooting.
Panoramic pictures (photo) are the high pixel picture for covering entire tower head, for this kind of picture using " panoramic pictures by
Grade recognizer ", as shown in Figure 3.Recognizer is divided into two using insulator and earth wire support as hinge portion measure to panoramic pictures step by step
Class, one is locked out insulator region, first identifies insulator class defect (bottle explosion etc.), is then extended centered on insulator and sought
The fitting being connected with insulator is looked for, leads defect and hanging point class defect are divided into；Two are locked out earth wire support region, with
Extend the fitting found and be connected with ground wire centered on earth wire support, is divided into hanging point class defect and ground wire class defect.
Recognizer carries out tower head defect recognition, tool in a manner of quickly finding heart defect component to panoramic pictures step by step
There are the advantages such as calculating speed is fast, defect covering is comprehensive.
Based on the same inventive concept, a kind of transmission line of electricity intelligence based on helicopter platform is additionally provided in the embodiment of the present invention
Energy recognition methods, as described in the following examples.Since the power transmission line intelligent recognition methods solution based on helicopter platform is asked
The principle of topic is similar to the power transmission line intelligent identifying system based on helicopter platform, therefore the power transmission line based on helicopter platform
The implementation of road intelligent identification Method may refer to the implementation of the power transmission line intelligent identifying system based on helicopter platform, repetition
Place repeats no more.
Fig. 4 is the power transmission line intelligent recognition methods flow chart based on helicopter platform of the embodiment of the present invention, such as Fig. 4 institute
Show, including：
Step 401：Gondola gesture stability terminal generates gondola gesture stability information, and is sent to pod control system；
Step 402：Pod control system receives the gondola gesture stability information, and by the gondola gesture stability information
It is sent to gondola；
Step 403：Gondola posture control circuit in gondola controls changing for gondola posture according to gondola gesture stability information
Become；
Step 404：Gyrostabilization unit in gondola stablizes the optical axis of high definition industrial camera, high-definition camera；
Step 405：High definition industrial camera in gondola obtains the panoramic picture of shaft tower to be identified；
Step 406：High-definition camera in gondola obtains the image of same shaft tower to be identified, the high definition industrial camera with
The high-definition camera is coaxial；
Step 407：Pod control system receives and by the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
Image be sent to monitor；
Step 408：Monitor is treated according to the panoramic picture of the shaft tower to be identified and the image of the shaft tower to be identified
Identification shaft tower is monitored；
Step 409：Industrial personal computer receives the panoramic picture of the shaft tower to be identified, to the panoramic picture of the shaft tower to be identified
It is analyzed；
Wherein, the gondola is installed on outside helicopter platform, the pod control system, monitor, gondola gesture stability
Terminal and industrial personal computer are installed on helicopter engine room inside；Gondola is connect with pod control system, pod control system respectively with prison
Visual organ is connected with gondola gesture stability terminal, and gondola is connect with industrial personal computer.
Note：Step 401- step 403 is not necessarily to execute helicopter initial flight stage (when i.e. towards shaft tower to be identified), when
Helicopter flight can just be executed to when deviating from shaft tower to be identified.There is shake in helicopter and causes image taking fuzzy in step 404
Shi Caihui is performed.
In conclusion the power transmission line intelligent identification and method proposed by the present invention based on helicopter platform is with following excellent
Point：
1. panoramic pictures acquisition system can acquire the entire tower head of covering and details can be resolved to pin deciding grade and level and not belong to international head
Wound；
2. recognizer carries out tower head defect recognition in a manner of quickly finding heart defect component to panoramic pictures step by step,
With calculating speed, fast, defect covers the advantages such as comprehensive；
3. helicopter intelligent patrol detection proposed by the present invention can realize that helicopter quickly makes an inspection tour route without hovering, data
Handled under line, with the intelligent recognition of deep learning check based on, manually check supplemented by, operating efficiency can be substantially improved, drop
Low operating cost.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the embodiment of the present invention can have various modifications and variations.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of power transmission line intelligent identifying system based on helicopter platform, which is characterized in that including：Gondola, gondola control
System, monitor, gondola gesture stability terminal and industrial personal computer, wherein the gondola is installed on outside helicopter platform, the gondola
Control system, monitor, gondola gesture stability terminal and industrial personal computer are installed on helicopter engine room inside；Gondola and gondola control are
System connection, pod control system are connect with monitor and gondola gesture stability terminal respectively, and gondola is connect with industrial personal computer；
Wherein, the gondola gesture stability terminal is used for：Gondola gesture stability information is generated, and is sent to gondola control system
System；
The pod control system is used for：It receives and the gondola gesture stability information is sent to the gondola；
The gondola includes high definition industrial camera, high-definition camera, gondola posture control circuit and gyrostabilization unit；
The high definition industrial camera is used for：Obtain the panoramic picture of shaft tower to be identified；
The high-definition camera is used for：The image of same shaft tower to be identified is obtained, the high definition industrial camera is taken the photograph with the high definition
As head is coaxial；
The gondola posture control circuit is used for：The change of gondola posture is controlled according to gondola gesture stability information；
The gyrostabilization unit is used for：The optical axis of high definition industrial camera, high-definition camera is stablized；
The pod control system is also used to：It receives and by the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
Image is sent to the monitor；
The monitor is used for：According to the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified to be identified
Shaft tower is monitored；
The industrial personal computer is used for：The panoramic picture for receiving the shaft tower to be identified, to the panoramic picture of the shaft tower to be identified into
Row analysis.
2. the power transmission line intelligent identifying system based on helicopter platform as described in claim 1, which is characterized in that described to hang
Cabin control system includes data reception module, document format conversion module and gesture stability module；
Wherein, data reception module is used for：Receive the panoramic picture of the shaft tower to be identified and the image of the shaft tower to be identified；
The document format conversion module is used for：By the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
It is converted into the identifiable format of the monitor；
The gesture stability module is used for：The gondola gesture stability information is received, and the gondola gesture stability information is sent out
It send to the gondola.
3. the power transmission line intelligent identifying system based on helicopter platform as described in claim 1, which is characterized in that described to hang
Cabin further includes thermal camera；
The thermal camera is used for：Obtain the panorama infrared image of shaft tower to be identified；
The monitor further includes infrared ray monitoring device.
4. the power transmission line intelligent identifying system based on helicopter platform as described in claim 1, which is characterized in that described to hang
Cabin further includes Laser Scanning Equipment；
The Laser Scanning Equipment is used for：Obtain the panorama laser scanning image of shaft tower to be identified；
The monitor further includes laser watch-dog.
5. the power transmission line intelligent identifying system based on helicopter platform as described in claim 1, which is characterized in that described to hang
Cabin further includes thermal camera and Laser Scanning Equipment；
The thermal camera is used for：Obtain the panorama infrared image of shaft tower to be identified；
The Laser Scanning Equipment is used for：Obtain the panorama laser scanning image of shaft tower to be identified；
The monitor further includes infrared ray monitoring device and laser watch-dog.
6. the power transmission line intelligent identifying system based on helicopter platform as claimed in claim 5, which is characterized in that described to hang
Cabin control system includes data receiver allocation processing module, multiple document format conversion modules and gesture stability module；
Wherein, the data receiver allocation processing module is used for：Receive the panoramic picture, described to be identified of the shaft tower to be identified
The panorama laser scanning image of the image of shaft tower, the panorama infrared image of the shaft tower to be identified and the shaft tower to be identified, will
The image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified, the shaft tower to be identified panorama infrared image,
The panorama laser scanning image of the shaft tower to be identified, distribution output to corresponding document format conversion module；
The multiple document format conversion module is used for：Corresponding image is received to format；
The gesture stability module is used for：The gondola gesture stability information is received, and the gondola gesture stability information is sent out
It send to the gondola.
7. the power transmission line intelligent identifying system based on helicopter platform as described in claim 2 or 6, which is characterized in that institute
Stating pod control system further includes power supply, the monitor and the gondola appearance in power distribution module, with helicopter cabin
The connection of state controlling terminal；
The power distribution module is used for：It is powered by the power supply to the monitor and the gondola gesture stability terminal.
8. the power transmission line intelligent identifying system based on helicopter platform as described in claim 1, which is characterized in that the work
Control machine is specifically used for：
The panoramic picture of the shaft tower to be identified is analyzed as follows：
Primary identification is carried out to the panoramic picture of the shaft tower to be identified, obtains the image containing defective shaft tower to be identified；
Using deep learning algorithm, the image containing defective shaft tower to be identified is analyzed.
9. the power transmission line intelligent identifying system based on helicopter platform as described in claim 1, which is characterized in that the work
Control machine is also used to：Industrial camera parameter is set, the industrial camera parameter is sent to the high definition industrial camera；
The high definition industrial camera is also used to：Parameter setting is carried out according to the industrial camera parameter.
10. a kind of power transmission line intelligent recognition methods based on helicopter platform, which is characterized in that including：
Gondola gesture stability terminal generates gondola gesture stability information, and is sent to pod control system；
Pod control system receives the gondola gesture stability information, and the gondola gesture stability information is sent to gondola；
Gondola posture control circuit in gondola controls the change of gondola posture according to gondola gesture stability information；
Gyrostabilization unit in gondola stablizes the optical axis of high definition industrial camera, high-definition camera；
High definition industrial camera in gondola obtains the panoramic picture of shaft tower to be identified；
High-definition camera in gondola obtains the image of same shaft tower to be identified, the high definition industrial camera and the high-definition camera
Head is coaxial；
Pod control system receives and is sent to the image of the panoramic picture of the shaft tower to be identified and the shaft tower to be identified
Monitor；
Monitor carries out shaft tower to be identified according to the panoramic picture of the shaft tower to be identified and the image of the shaft tower to be identified
Monitoring；
Industrial personal computer receives the panoramic picture of the shaft tower to be identified, analyzes the panoramic picture of the shaft tower to be identified；
Wherein, the gondola is installed on outside helicopter platform, the pod control system, monitor, gondola gesture stability terminal
Helicopter engine room inside is installed on industrial personal computer；Gondola is connect with pod control system, pod control system respectively with monitor
It is connected with gondola gesture stability terminal, gondola is connect with industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810717872.8A CN108881841A (en) | 2018-07-03 | 2018-07-03 | Power transmission line intelligent identifying system and method based on helicopter platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810717872.8A CN108881841A (en) | 2018-07-03 | 2018-07-03 | Power transmission line intelligent identifying system and method based on helicopter platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108881841A true CN108881841A (en) | 2018-11-23 |
Family
ID=64298268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810717872.8A Pending CN108881841A (en) | 2018-07-03 | 2018-07-03 | Power transmission line intelligent identifying system and method based on helicopter platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108881841A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620278A (en) * | 2009-07-02 | 2010-01-06 | 浙江省电力公司 | Method for helicopter power patrol on board system to control image collection |
| CN101834989A (en) * | 2010-05-25 | 2010-09-15 | 广州科易光电技术有限公司 | Real-time data acquisition and storage system of helicopter in electric inspection process |
| CN202696798U (en) * | 2012-07-20 | 2013-01-23 | 西安英诺视通信息技术有限公司 | Intelligent remote measuring device for dual-channel ultrahigh-definition power transmission line |
| CN203760914U (en) * | 2014-01-06 | 2014-08-06 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Three-dimensional panorama scanning device for patrolling power transmission line by helicopter |
| CN204119375U (en) * | 2014-01-28 | 2015-01-21 | 国家电网公司 | The real-time return device of rotor wing unmanned aerial vehicle power transmission state monitoring information |
| CN104978580A (en) * | 2015-06-15 | 2015-10-14 | 国网山东省电力公司电力科学研究院 | Insulator identification method for unmanned aerial vehicle polling electric transmission line |
| CN204992418U (en) * | 2015-09-22 | 2016-01-20 | 南方电网科学研究院有限责任公司 | Automatic inspection device for defects of unmanned aerial vehicle power transmission line |
| CN105551032A (en) * | 2015-12-09 | 2016-05-04 | 国网山东省电力公司电力科学研究院 | Pole image collection system and method based on visual servo |
| CN105676070A (en) * | 2016-02-25 | 2016-06-15 | 国网山东省电力公司章丘市供电公司 | Fault monitoring system for power transmission line |
| CN106803254A (en) * | 2017-01-17 | 2017-06-06 | 广东容祺智能科技有限公司 | The picture automatic testing method of insulator defect analysis in a kind of transmission line of electricity |
| CN107316353A (en) * | 2017-07-03 | 2017-11-03 | 国网冀北电力有限公司承德供电公司 | A kind of unmanned plane inspection approaches to IM, system and server |
| CN107944412A (en) * | 2017-12-04 | 2018-04-20 | 国网山东省电力公司电力科学研究院 | Transmission line of electricity automatic recognition system and method based on multilayer convolutional neural networks |
| CN108037770A (en) * | 2017-11-22 | 2018-05-15 | 国网山东省电力公司济宁供电公司 | Unmanned plane power transmission line polling system and method based on artificial intelligence |
-
2018
- 2018-07-03 CN CN201810717872.8A patent/CN108881841A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620278A (en) * | 2009-07-02 | 2010-01-06 | 浙江省电力公司 | Method for helicopter power patrol on board system to control image collection |
| CN101834989A (en) * | 2010-05-25 | 2010-09-15 | 广州科易光电技术有限公司 | Real-time data acquisition and storage system of helicopter in electric inspection process |
| CN202696798U (en) * | 2012-07-20 | 2013-01-23 | 西安英诺视通信息技术有限公司 | Intelligent remote measuring device for dual-channel ultrahigh-definition power transmission line |
| CN203760914U (en) * | 2014-01-06 | 2014-08-06 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Three-dimensional panorama scanning device for patrolling power transmission line by helicopter |
| CN204119375U (en) * | 2014-01-28 | 2015-01-21 | 国家电网公司 | The real-time return device of rotor wing unmanned aerial vehicle power transmission state monitoring information |
| CN104978580A (en) * | 2015-06-15 | 2015-10-14 | 国网山东省电力公司电力科学研究院 | Insulator identification method for unmanned aerial vehicle polling electric transmission line |
| CN204992418U (en) * | 2015-09-22 | 2016-01-20 | 南方电网科学研究院有限责任公司 | Automatic inspection device for defects of unmanned aerial vehicle power transmission line |
| CN105551032A (en) * | 2015-12-09 | 2016-05-04 | 国网山东省电力公司电力科学研究院 | Pole image collection system and method based on visual servo |
| CN105676070A (en) * | 2016-02-25 | 2016-06-15 | 国网山东省电力公司章丘市供电公司 | Fault monitoring system for power transmission line |
| CN106803254A (en) * | 2017-01-17 | 2017-06-06 | 广东容祺智能科技有限公司 | The picture automatic testing method of insulator defect analysis in a kind of transmission line of electricity |
| CN107316353A (en) * | 2017-07-03 | 2017-11-03 | 国网冀北电力有限公司承德供电公司 | A kind of unmanned plane inspection approaches to IM, system and server |
| CN108037770A (en) * | 2017-11-22 | 2018-05-15 | 国网山东省电力公司济宁供电公司 | Unmanned plane power transmission line polling system and method based on artificial intelligence |
| CN107944412A (en) * | 2017-12-04 | 2018-04-20 | 国网山东省电力公司电力科学研究院 | Transmission line of electricity automatic recognition system and method based on multilayer convolutional neural networks |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108037770B (en) | Unmanned aerial vehicle power transmission line inspection system and method based on artificial intelligence | |
| CN109978820B (en) | Unmanned aerial vehicle route acquisition method, system and equipment based on laser point cloud | |
| Whitworth et al. | Aerial video inspection of overhead power lines | |
| CN110047241A (en) | A kind of forest fire unmanned plane cruise monitoring system | |
| CN112327906A (en) | Intelligent automatic inspection system based on unmanned aerial vehicle | |
| US8175332B2 (en) | Upper troposphere and lower stratosphere wind direction, speed, and turbidity monitoring using digital imaging and motion tracking | |
| CN108258613A (en) | Intelligent line patrol photoelectric pod and line patrol realization method | |
| WO2018121247A1 (en) | Method and device for controlling flight of unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN108377328A (en) | A kind of helicopter makes an inspection tour the target image pickup method and device of operation | |
| KR101796258B1 (en) | A construction safety inspection method based on vision using small unmanned aerial vehicles | |
| JP6583840B1 (en) | Inspection system | |
| US11228710B1 (en) | Configuring imaging devices based on control signals | |
| CN113031462A (en) | Port machine inspection route planning system and method for unmanned aerial vehicle | |
| CN114020043A (en) | Unmanned aerial vehicle building project supervision system and method, electronic equipment and storage medium | |
| CN112947511A (en) | Method for inspecting fan blade by unmanned aerial vehicle | |
| WO2022247597A1 (en) | Papi flight inspection method and system based on unmanned aerial vehicle | |
| CN115649501A (en) | Night driving illumination system and method for unmanned aerial vehicle | |
| CN207638247U (en) | Intelligent line patrol photoelectric nacelle | |
| CN109144109A (en) | A kind of dynamic hotspot during helicopter line walking tracks locking means | |
| CN108881841A (en) | Power transmission line intelligent identifying system and method based on helicopter platform | |
| RU198460U1 (en) | DEVICE FOR TECHNICAL VISION OF A SMALL UNMANNED AIRCRAFT | |
| US20220221857A1 (en) | Information processing apparatus, information processing method, program, and information processing system | |
| CN115826596B (en) | Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle | |
| CN116665077A (en) | Power transmission line detection shooting method and system based on AI (advanced identification) recognition technology | |
| CN213987269U (en) | System for unmanned aerial vehicle patrols and examines fan blade |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190425 Address after: 102209 B218, No. 10 Zhongxing Road, Changping District Science Park, Beijing Applicant after: SGCC GENERAL AVIATION CO., LTD. Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: State Grid Corporation of China Address before: 102209 B218, No. 10 Zhongxing Road, Changping District Science Park, Beijing Applicant before: SGCC GENERAL AVIATION CO., LTD. Applicant before: State Grid Corporation of China |
|
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Weidong Inventor after: Chen Chunying Inventor after: Wu Yi Inventor after: Wang Jiaying Inventor after: Ye Zi Inventor after: Kong Lingyu Inventor after: Xiu Xianwen Inventor after: Li Chengqi Inventor after: Zheng Wenjie Inventor before: Liu Weidong Inventor before: Chen Chunying Inventor before: Wu Yi Inventor before: Wang Jiaying Inventor before: Ye Zi Inventor before: Kong Lingyu Inventor before: Xiu Xianwen |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |