CN110207832A - High-tension line cruising inspection system and its method for inspecting based on unmanned plane - Google Patents
High-tension line cruising inspection system and its method for inspecting based on unmanned plane Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The present invention provides a kind of high-tension line cruising inspection system and its method for inspecting based on unmanned plane, and system includes unmanned plane and the server with unmanned plane wireless communication, wherein the unmanned plane is equipped: GPS receiver module；Flight control modules；HD video shooting module；It is equipped with airborne wireless communication module and the server: inspection route planning module；HD video detection module；Data memory module；Server wireless communication module.
Description
Technical field
The present invention relates to field of visual inspection, more particularly, to based on unmanned plane high-tension line cruising inspection system and its
Method for inspecting.
Background technique
High voltage overhead electric wire (high-tension line) has extremely important effect as the transmission route in electric system.It is high
Pressure trolley wire is highly susceptible to the interference of the barriers such as branch, kite, bird, even so as to cause short circuit, electric discharge
The failures such as burning.Therefore, it is necessary to carry out inspection to high-tension line, finds in time and eliminate this kind of security risk.
Currently, high-tension line inspection relies primarily on artificial realization, i.e., high-tension line location is goed deep by inspection staff,
By naked eyes or sem observation high-tension line of looking in the distance with the presence or absence of abnormal.This mode there are large labor intensity, poor reliability, by ring
Border influences the disadvantages of big.Moreover, with the continuous amplification of high-tension line, the workload of line data-logging increasingly increases.This leads to people
Work routine inspection mode can not cover all high-tension lines in time.As an improvement, some areas carry out high-tension line using robot
Inspection.But this kind of robot needs are affiliated on trapped orbit.This just needs to be laid with a large amount of tracks, cause it is big across station difficulty,
It is difficult to the disadvantage safeguarded, adaptability is poor and cost is huge.
Summary of the invention
That the invention solves existing inspection difficulty is big, precision is low, at high cost problem provides a kind of based on unmanned plane
High-tension line cruising inspection system, the server including unmanned plane and with unmanned plane wireless communication, wherein the unmanned plane is arranged
Have: GPS receiver module is used to receive the location information of the unmanned plane；Flight control modules are used to execute from server
The flight directive received is to control the state of flight of unmanned plane；HD video shooting module is used to acquire unmanned plane and flies
The video of the high-tension line passed through during row；With airborne wireless communication module, it is used to carry out wireless communication with server
To send information to server and be equipped with from server reception information and the server: inspection route planning module,
For generating the pre-determined route figure of high-tension line to be inspected, and judge the unmanned plane whether on set programme path；
HD video detection module is used to that the HD video that unmanned plane transmits to be analyzed and be handled, to judge that high-tension line is
It is no that there are failures；Data memory module is used to store various data；Server wireless communication module, is used for and unmanned plane
It carries out wireless communication to send information to unmanned plane and receive information from unmanned plane.
According to this one aspect of the present invention, the unmanned plane is also equipped with infrared thermoviewer, is used to acquire high-voltage line
The infrared image on road.
According to this one aspect of the present invention, the server is also equipped with infrared image detection module, is used for basis
Infrared image judges high-tension line with the presence or absence of temperature anomaly.
According to this one aspect of the present invention, the HD video detection module framework has the VGG of yolo algorithm and 19 layers
Convolutional neural networks algorithm.
According to this one aspect of the present invention, yolo algorithm is used to position the position of high-tension line and whether determines unmanned plane
In the center of HD video, 19 layers of VGG convolutional neural networks are used to identify whether high-tension line is faulty.
According to this one aspect of the present invention, the inspection route planning module architectures have graph search algorithm, according to nothing
The heading of the man-machine location information adjustment unmanned plane transmitted.
By the way that the description of exemplary embodiment, other features of the invention be will be apparent referring to the drawings.
Detailed description of the invention
The attached drawing being included in the description and forms part of the description instantiates exemplary embodiment of the present invention, spy
In terms of seeking peace, and the principle used to explain the present invention together with explanatory note.
Fig. 1 is the schematic block according to the construction of the high-tension line cruising inspection system based on unmanned plane of one aspect of the invention
Figure.
Fig. 2 is the schematic flow diagram of the high-tension line method for inspecting based on unmanned plane of one aspect according to the present invention.
Fig. 3 is the schematic diagram of the framework of 19 layers of VGG convolutional neural networks of one aspect according to the present invention.
Specific embodiment
The various exemplary embodiments of detailed description of the present invention, feature and aspect below with reference to accompanying drawings.It should be pointed out that removing
Non- in addition to illustrate, the relative configuration of the component, digital representation and the numerical value that describe in these embodiments does not limit the present invention
Range.It it should be pointed out that the following examples are not intended to limit the scope of the present invention recorded in claim, and is not these
Whole combinations of feature described in embodiment are necessary to the present invention.
To solve the above problems, the present invention provides a kind of high-tension line cruising inspection system and method based on unmanned plane, benefit
Complete the patrol task of high-tension line with unmanned plane, compare manual inspection, with high reliablity, precision it is high and at low cost etc.
Advantage.
According to an aspect of the present invention, system is made of unmanned plane (can be by more) and server two parts, this two
It is wirelessly communicated between person.
Wireless communication module, GPS receiver module, flight control modules, holder high-definition camera are erected on unmanned plane.It is excellent
Selection of land can also set up infrared thermoviewer on unmanned plane.Wherein, wireless communication module is used to carry out wireless communication with server,
Server is transmitted to signals such as the various data, video, the images that acquire unmanned plane.For example, by the positioning of unmanned plane
Signal, HD video and infrared image delivery are to server.The wireless communication module is also used to receive the message that server is sent.
GPS receiver module for acquiring the location information, such as height, longitude and latitude, speed, the angle of unmanned plane etc. of unmanned plane in real time.
Flight control modules are used to execute the flight directive received from server to control or the state of flight of adjustment unmanned plane, example
Such as control or adjust the flying height of unmanned plane, speed, through dimension, angle.Holder high-definition camera is used to acquire unmanned plane
The HD video of the high-tension line passed through in flight course.The height passed through during infrared thermoviewer acquisition unmanned plane during flying
The infrared image on crimping road.
Preferably, above-mentioned wireless communication module, GPS receiver module and flight control modules can be integrated into one.
Server is equipped with wireless communication module, data memory module, inspection route planning module and HD video detection
Module.Preferably, server is also equipped with infrared image detection module.It is highly preferred that server be also equipped with alarm module and
Sending module.Wherein, wireless communication module refers to data, image, programme path for carrying out wireless communication with unmanned plane
Enable, flight control instruction etc. is transmitted to unmanned plane, and receive information from unmanned plane.Data memory module is each for storage server
The information such as video, the image that the data and unmanned plane that a module generates are sent.Inspection route planning module is used for unmanned plane
Flight path is planned, that is, generates the pre-determined route figure of high-tension line to be inspected, and judges whether unmanned plane is located at both
On fixed programme path, to guarantee that unmanned plane can take high-tension line to be inspected.When unmanned plane deviates set rule
When drawing route, inspection route planning module is also adjusted state of flight using such as graph search algorithm and by flight shape adjusted
State information is sent to the flight control modules of unmanned plane to correct the flight path of unmanned plane.HD video detection module be used to pair
The HD video of unmanned plane transmission is analyzed and is handled, to judge high-tension line with the presence or absence of failure.Preferably, HD video
Detection module framework has the VGG convolutional neural networks algorithm of yolo algorithm and 19 layers.Wherein, yolo algorithm is used to position high-voltage line
Whether the position on road and determining unmanned plane entreat in video, and 19 layers of VGG convolutional neural networks are used to identify that high-tension line is
It is no faulty.Infrared image detection module is used to that the infrared image that unmanned plane transmits is analyzed and handled, to judge high pressure
Route whether there is temperature anomaly (such as excessively high).Alarm module is sounded an alarm when detecting failure or temperature anomaly, described
Alarm includes sound and light.Related video or image are sent out by sending module when detecting failure or temperature anomaly, example
It is sent to console or related breakdown maintenance department, such as in order to which they arrange to repair and carry out other processing in time.
Wherein, the framework of 19 layers of VGG convolutional neural networks is shown by Fig. 3.Step-length, convolution kernel size of each convolutional layer etc.
It is labeled in Fig. 3.
As an example, the wireless communication module of server receives GPS positioning information from unmanned plane, HD video and red
After outer image, using inspection route planning module detection unmanned plane whether on set programme path, and calculated using graph search
Method corrects flight orders constantly to guarantee that unmanned plane is in always on correct route.HD video detection module is calculated using yolo
Whether the position of legal position high-tension line, detection high-tension line are located at video center.High-tension line is located at after video center is convenient for
The continuous detection that abnormal conditions are carried out to high-tension line.HD video detection module is also judged using one 19 layers of VGG algorithm
Whether unusual condition (such as the roadblocks such as electric discharge, on fire or situation of high-voltage line disconnection) is had on detection route.Infrared image detection
Module is it is judged whether or not high temperature unusual condition.Other than routine data described above, data memory module can also be used in
Store the Various types of data and image under unusual condition.
Unmanned plane carries out autonomous inspection to high-tension line and data acquire；Module by wireless communication, by location information, height
Clear video and infrared image real-time Transmission are to server.Server can complete the processing of the analysis to the data received and pre-
The functions such as alert, navigation.Using high-definition camera and infrared thermoviewer, accurately identify whether high-tension line is faulty or even electric discharge is existing
As timely discovering device defect improves equipment routing inspection efficiency.
High-tension line method for inspecting based on unmanned plane is as shown in Fig. 2, include the following steps.
Step S1: the wireless communication module of unmanned plane can send test signal to server, if the channel radio of server
Letter module, which receives test signal and has sent to unmanned plane, receives replying message for test signal, then it represents that unmanned plane and clothes
Wireless communication between business device is in normal condition, and method proceeds to step S2；Otherwise, unmanned plane continues to send to server and survey
Trial signal.
Step S2: initialization unmanned plane and server on each module parameter, start unmanned plane inspection work, then without
It is man-machine to send the signals such as its collected various data, image, video to server.The parameter of initialization includes inspection route rule
Draw inspection route map, the yolo algorithm in HD video detection module and the net in VGG convolutional neural networks algorithm in module
Network parameter etc..The signal sent to server includes GPS positioning signal, HD video and infrared image etc..
Step S3: whether server judges unmanned plane on set programme path by inspection route planning module.If
Unmanned plane deviates from programme path, then adjusts and send flight orders to unmanned plane, be returned on inspection route.
Step S4: server judges whether unmanned plane completes inspection by inspection route planning module, right if completing
Unmanned plane is controlled such that it makes a return voyage, conversely, continuing to detect route.
Step S5: whether the HD video detection module detection high pressure route of server is in HD video center.If it is not, then
The angle of holder high-definition camera and infrared thermoviewer is adjusted, until high pressure route is located at video center.
Step S6: server analyzes HD video and infrared image, if judging high-voltage line from video or image
Road is abnormal phenomenon or has high temperature early warning, then by the information preservation of current unmanned plane to data memory module and sends alarm signal
Breath, such as sound and light.Staff to save under HD video and infrared image manually rechecked.
Above-mentioned steps do not carry out strictly in order.For example, step S3, S4, S5 and S6 can be carried out simultaneously.
The present invention carries out inspection to high-tension line using unmanned plane, reduces labour cost, and the influence of climate condition is smaller,
Have the characteristics that high maneuverability, fine accurate, routing inspection cost is low, applied widely.During inspection, inspection road need to be only set
Line can intelligently carry out flight program, by HD video detection and infrared image detection can be obtained inspection as a result, for
Confirmation can be completed in a small amount of artificial reinspection of abnormal phenomenon cooperation.
The high-tension line cruising inspection system to provided by the present invention based on unmanned plane and method are described in detail above.
Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification
It falls into the protection scope of the claims in the present invention.
Claims (14)
1. a kind of high-tension line cruising inspection system based on unmanned plane, which is characterized in that including unmanned plane and with the unmanned plane without
The server of line communication, wherein
The unmanned plane is equipped:
GPS receiver module is used to receive the location information of the unmanned plane；
Flight control modules are used to execute the flight directive received from server to control the state of flight of unmanned plane；
HD video shooting module is used to acquire the video of the high-tension line passed through during unmanned plane during flying；With
Airborne wireless communication module is used to carry out wireless communication with server to send information to server and connect from server
It collects mail and ceases, and
The server is equipped:
Inspection route planning module, is used to generate the pre-determined route figure of high-tension line to be inspected, and judges the unmanned plane
Whether on set programme path；
HD video detection module is used to that the HD video that unmanned plane transmits to be analyzed and/or be handled, to judge high pressure
Route whether there is failure；
Data memory module is used to store various data；
Server wireless communication module is used to carry out wireless communication with unmanned plane to send information to unmanned plane and from unmanned plane
Information is received,
The information of each module acquisition of unmanned plane is transmitted to the corresponding module of server, and the corresponding module of server is to the letter being collected into
Breath is analyzed to obtain control signal and then controls the flight of unmanned plane.
2. high-tension line cruising inspection system according to claim 1, which is characterized in that the unmanned plane be also equipped with it is infrared at
As instrument, it is used to acquire the infrared image of high-tension line.
3. high-tension line cruising inspection system according to claim 2, which is characterized in that the server is also equipped with infrared figure
As detection module, it is used to be judged according to infrared image high-tension line with the presence or absence of temperature anomaly.
4. high-tension line cruising inspection system according to claim 1, which is characterized in that the HD video detection module framework
There is the VGG convolutional neural networks algorithm of yolo algorithm and 19 layers.
5. high-tension line cruising inspection system according to claim 4, which is characterized in that yolo algorithm is used to position high-tension line
Position and whether determine unmanned plane in the center of HD video, 19 layers of VGG convolutional neural networks are used to identify high-tension line
It is whether faulty.
6. high-tension line cruising inspection system according to claim 1, which is characterized in that the inspection route planning module architectures
There is graph search algorithm, with the heading of the location information adjustment unmanned plane transmitted according to unmanned plane.
7. high-tension line cruising inspection system according to claim 1, which is characterized in that server further includes alarm module,
It is sounded an alarm when detecting failure or temperature anomaly, the alarm includes sound and light.
8. high-tension line cruising inspection system according to claim 1, which is characterized in that server further includes sending module,
Related video or image are sent out when detecting failure or temperature anomaly.
9. the method for carrying out inspection using the described in any item cruising inspection systems of preceding claims 1-8, which is characterized in that
Step S1: the wireless communication module of unmanned plane can send test signal to server, if the radio communication mold of server
Block, which receives test signal and has sent to unmanned plane, receives replying message for test signal, then it represents that unmanned plane and server
Between wireless communication be in normal condition, method proceeds to step S2；Otherwise, unmanned plane continues to send test letter to server
Number；
Step S2: the parameter of each module on initialization unmanned plane and server starts the inspection work of unmanned plane, then unmanned plane
The signals such as its collected various data, image, video are sent to server.
10. the parameter of initialization includes inspection route map in inspection route planning module, in HD video detection module
Network parameter etc. in yolo algorithm and VGG convolutional neural networks algorithm.
11. the signal sent to server includes GPS positioning signal, HD video and infrared image etc.；
Step S3: whether server judges unmanned plane on set programme path by inspection route planning module.
12. if adjusting unmanned plane deviates from programme path and sending flight orders to unmanned plane, be returned to inspection route
On；
Step S4: server judges whether unmanned plane completes inspection by inspection route planning module, to nobody if completing
Machine is controlled such that it makes a return voyage, conversely, continuing to detect route；
Step S5: whether the HD video detection module detection high pressure route of server is in HD video center.
13. if it is not, the angle of holder high-definition camera and infrared thermoviewer is then adjusted, until high pressure route is located at video center；
Step S6: server analyzes HD video and infrared image, if judging from video or image, high-tension line is sent out
Raw abnormal phenomenon has high temperature early warning, then by the information preservation of current unmanned plane to data memory module and sends warning information,
Such as sound and light.
14. staff to save under HD video and infrared image manually rechecked.
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