CN110887462A - Unmanned aerial vehicle inspection method and system and power transmission line inspection method and system - Google Patents
Unmanned aerial vehicle inspection method and system and power transmission line inspection method and system Download PDFInfo
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- CN110887462A CN110887462A CN201911186141.6A CN201911186141A CN110887462A CN 110887462 A CN110887462 A CN 110887462A CN 201911186141 A CN201911186141 A CN 201911186141A CN 110887462 A CN110887462 A CN 110887462A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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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
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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
Abstract
The invention relates to an unmanned aerial vehicle inspection system, an electric transmission line inspection method, a system, equipment and a medium, wherein the method comprises the following steps: carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information; acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information; naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data; and sending the image data to ground monitoring equipment. The storage medium stores a computer program for implementing the power transmission line inspection method. The equipment comprises a processor and a memory which stores the computer program, and can realize the power transmission line inspection method. By implementing the invention, the power transmission line equipment can be patrolled based on machine vision.
Description
Technical Field
The invention relates to the technical field of power transmission lines, in particular to an unmanned aerial vehicle inspection method and system and a power transmission line inspection method and system.
Background
In order to ensure the stability of power supply of a power grid, inspection and maintenance of a power transmission line need to be carried out regularly. The position of the wireless video online monitoring device adopted in the earlier stage is fixed, and the monitoring dead angle which cannot be detected exists in the monitoring process, so that real-time guard and monitoring of images are difficult to achieve, and in addition, the wireless monitoring device has no automatic fault early warning mechanism, so that the problem of preventing external force damage of a power transmission line can still be effectively solved.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle inspection method and system, a power transmission line inspection method and system, computer equipment and a computer readable storage medium, so that inspection of the power transmission line equipment based on machine vision is realized, and the operation efficiency and quality of the power transmission line are improved.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle inspection method, including the following steps:
carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information;
acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;
naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;
and sending the image data to ground monitoring equipment.
In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle inspection system, which is used for implementing the unmanned aerial vehicle inspection method according to the first aspect, and includes:
the control unit is used for generating a patrol control instruction according to a preset patrol strategy;
the flight execution unit is used for flying according to the flight path information and the flight control information in the control command of the control unit;
the image acquisition unit is used for acquiring the image information of the target equipment and the EXIF information corresponding to the image information according to the control instruction of the control unit;
the information acquisition unit is used for acquiring the position information, the flight path information and the flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;
the information processing unit is used for naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;
and the data sending unit is used for sending the image data to ground monitoring equipment.
In a third aspect, an embodiment of the present invention provides a power transmission line inspection system, including:
one or more unmanned aerial vehicle inspection systems according to embodiments of the second aspect are configured to perform inspection according to a preset inspection policy, acquire image information of a target device and EXIF information corresponding to the image information, acquire position information, flight path information, and flight control information of the unmanned aerial vehicle inspection system corresponding to acquisition time of the image information, name and store the image information, the EXIF information, the position information, the flight path information, and the flight control information according to information storage time, and obtain image data;
the data transmission equipment is used for receiving the image data of the unmanned aerial vehicle inspection system and coding the image data according to a preset mode to obtain coded data;
and the ground monitoring equipment is used for receiving the coded data of the data transmission equipment, decoding the coded data to obtain image data and displaying the image data.
In a fourth aspect, an embodiment of the present invention provides a method for polling a power transmission line polling system according to the third aspect, including the following steps:
the unmanned aerial vehicle inspection system inspects according to a preset inspection strategy, acquires image information of target equipment and EXIF information corresponding to the image information, acquires position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information, names the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time, and stores the image information, the EXIF information, the position information, the flight path information and the flight control information to obtain image data;
the data transmission equipment receives image data of the unmanned aerial vehicle inspection system and encodes the image data according to a preset mode to obtain encoded data;
and the ground monitoring equipment receives the coded data of the data transmission equipment, decodes the coded data to obtain image data and displays the image data.
In a fifth aspect, an embodiment of the present invention provides a computer device, including: the unmanned aerial vehicle inspection system according to the second aspect embodiment; or a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to perform the steps of the unmanned aerial vehicle inspection method according to the first aspect.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the unmanned aerial vehicle inspection method according to the first aspect.
The embodiment of the invention provides an unmanned aerial vehicle inspection method and system, a power transmission line inspection method and system, computer equipment and a computer readable storage medium. The unmanned aerial vehicle inspection system performs inspection by using a preset inspection strategy in the inspection process, wherein the inspection strategy comprises an inspection path and an information acquisition task executed by a set position point in the path; a large amount of polling data are obtained in the polling process, the polling data are named and stored according to the information generation time, all the stored data are sent to a ground monitoring center to be displayed, and polling personnel can judge the state of each power transmission line device by observing the image data returned by the unmanned aerial vehicle polling system in the ground monitoring center. Therefore, the inspection of the power transmission line based on machine vision is realized, and the operating efficiency and quality of the power transmission line are improved. It should be noted that, in this embodiment, the inspection data is named and stored according to the information generation time, which is convenient for sorting and displaying the data, and improves the work efficiency of the inspection personnel when analyzing the fault according to the image data.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an unmanned aerial vehicle inspection method according to an embodiment.
Fig. 2 is a schematic diagram of EXIF information in the first embodiment.
Fig. 3 is a schematic diagram of an image data storage structure according to an embodiment.
Fig. 4 is a frame diagram of an inspection system of an unmanned aerial vehicle according to a second embodiment.
Fig. 5 is a frame diagram of the power transmission line inspection system according to the third embodiment.
Fig. 6 is a flowchart of a power transmission line inspection method according to the fourth embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, well known means have not been described in detail so as not to obscure the present invention.
Example one
The embodiment of the invention provides an unmanned aerial vehicle inspection method, fig. 1 is a flow chart of the unmanned aerial vehicle inspection method of the embodiment, and referring to fig. 1, the embodiment method comprises the following steps of S101-S104:
s101, carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information;
specifically, the method is implemented based on an unmanned aerial vehicle inspection system, and the preset inspection strategy comprises a flight path of the unmanned aerial vehicle inspection system and tasks to be executed in the inspection flight process, such as shooting images of the target power transmission line. The EXIF information is an abbreviation of exchangeable image file, is specially set for the photo of the digital camera, and can record the attribute information and the shooting data of the digital photo. EXIF may be attached to JPEG, TIFF, RIFF, or the like file, to which contents of information on digital camera shooting and version information of an index map or image processing software, such as shown in fig. 2, are added. The image acquired in this embodiment is preferably in JPEG format.
For example, the power transmission line inspection equipment is not only applied to fault detection, but also can plan an autonomous flight path in advance when inspecting a line. Before the power transmission line inspection work starts, the calculated optimal inspection path needs to be led into a machine body navigation system of the power transmission line inspection equipment. The route inspection path planning method mainly depends on a GPS intelligent algorithm in inspection equipment to plan the path. The operator calculates point by point, constructs a genetic operator by adopting a polar coordinate coding mode, plans out a flight path with a detection route suitable for time, and then records a data code of the whole path into a navigation system for power transmission line inspection. In the calculation process of the path data, the checking needs to be carried out repeatedly, and potential safety hazards can occur in the inspection of the power transmission line due to the deviation of the data. Wherein, the main data calculation of the route is patrolled and examined to the transmission line includes: coordinates of take-off and landing points of the inspection operation, flying speed, position information of each target point of the line inspection operation and turning angle. In the path calculation process, the performance parameters of the power transmission line inspection equipment and the specific contents of the inspection task all participate in the path planning. The maximum cruising range, the maximum sailing vertical angle, the picture shooting distance, the minimum turning radius, the external environment conditions of the path and the like of the power transmission line patrol inspection equipment can constrain the planning of the path, and the calculation of the power transmission line patrol inspection path is to find the flight path with the lowest cost and the best effect according to the range of the constraint conditions.
Step S102, acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;
for example, if the acquisition time of the image of the power transmission line device is 10:00AM, the position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to 10:00AM are acquired simultaneously in the step, the flight path information is preset by the unmanned aerial vehicle inspection system, and the flight control information is the flight state of the unmanned aerial vehicle inspection system.
Step S103, naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;
specifically, for convenience of information lookup and retrieval, the naming mode of the information is set as the storage time, for example, as shown in fig. 3, the image information, EXIF information, position information, flight path information and flight control information are named and stored, referring to fig. 3, fig. 3 shows the case of three images, the storage structure shown in fig. 3 includes three parts, the first part is the image and its EXIF information, the second part is the GPS position information and IMU flight path information, and the third part is the flight control information and image quality and other information.
And step S104, sending the image data to ground monitoring equipment.
Particularly, the ground monitoring equipment displays the image data after receiving the image data, and the patrol inspection worker judges whether the power transmission line equipment has corresponding fault conditions by observing the displayed image, so that the power transmission line patrol inspection based on machine vision is realized, the artificial vision can be replaced under the severe condition, and the operating efficiency and the quality of the power transmission line can be greatly improved.
Example two
An embodiment of the present invention provides an unmanned aerial vehicle inspection system, which is used for implementing the unmanned aerial vehicle inspection method according to the embodiment one, fig. 4 is a frame diagram of the unmanned aerial vehicle inspection system according to the embodiment two, and referring to fig. 4, the unmanned aerial vehicle inspection system according to the embodiment two includes:
the control unit 1 is used for generating a patrol control instruction according to a preset patrol strategy;
the flight execution unit 2 is used for flying according to the flight path information and the flight control information in the control instruction of the control unit;
the image acquisition unit 3 is used for acquiring the image information of the target device and the EXIF information corresponding to the image information according to the control instruction of the control unit;
the information acquisition unit 4 is used for acquiring the position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;
the information processing unit 5 is used for naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to the information storage time to obtain image data;
and the data sending unit 6 is used for sending the image data to ground monitoring equipment.
The above described system embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the system provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
It should be noted that the system according to the second embodiment corresponds to the method according to the first embodiment, and therefore, a part of the system according to the second embodiment that is not described in detail can be obtained by referring to the content of the method according to the first embodiment, and is not described again here.
In addition, if the unmanned aerial vehicle inspection system according to the second embodiment is implemented in the form of a software functional unit and sold or used as an independent product, the unmanned aerial vehicle inspection system may be stored in a computer-readable storage medium.
EXAMPLE III
A third embodiment of the present invention provides a power transmission line inspection system, where fig. 5 is a frame diagram of the third embodiment of the system, and referring to fig. 5, the third embodiment of the system includes:
one or more unmanned aerial vehicle inspection systems 100 according to the second embodiment are configured to perform inspection according to a preset inspection policy, acquire image information of a target device and EXIF information corresponding to the image information, acquire position information, flight path information, and flight control information of the unmanned aerial vehicle inspection system corresponding to acquisition time of the image information, name and store the image information, the EXIF information, the position information, the flight path information, and the flight control information according to information storage time, and obtain image data;
the data transmission equipment 200 is used for receiving the image data of the unmanned aerial vehicle inspection system and coding the image data according to a preset mode to obtain coded data;
and the ground monitoring equipment 300 is configured to receive the encoded data of the data transmission equipment, decode the encoded data to obtain image data, and display the image data.
Specifically, the transmission of the video data is realized by a physical line connecting two communication nodes. The image data is encoded by the data transmission device 200 to be a coded signal, and the coded signal is transmitted through an antenna, and the ground monitoring device 300 also receives the coded signal through the antenna, and after decoding, the image data is obtained and imaged, and the display on the terminal device is more visual.
Example four
An embodiment four of the present invention provides a method for polling a power transmission line polling system according to an embodiment three, fig. 6 is a flowchart of the polling method according to the embodiment four, and referring to fig. 6, the method according to the embodiment four includes the following steps:
step S201, one or more unmanned aerial vehicle inspection systems 100 perform inspection according to a preset inspection strategy, acquire image information of target equipment and EXIF information corresponding to the image information, acquire position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information, name and store the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time, and acquire image data;
step S202, the data transmission equipment 200 receives image data of the unmanned aerial vehicle inspection system and encodes the image data according to a preset mode to obtain encoded data;
step S203, the ground monitoring device 300 receives the encoded data of the data transmission device, decodes the encoded data to obtain image data, and displays the image data.
Wherein, the step S201 specifically includes:
and carrying out transmission line fault routing inspection, foreign matter routing inspection of a channel environment below the transmission line and fault routing inspection of peripheral accessory facilities of the power grid according to a preset routing inspection strategy.
Particularly, different patrol and examine tasks can be patrolled and examined by the unmanned aerial vehicle system execution of patrolling and examining to improve the efficiency that transmission line patrolled and examined, also avoid single unmanned aerial vehicle system of patrolling and examining because of carrying out the task too much, and too high to the hardware requirement, corresponding control algorithm also can be more complicated.
The power transmission line fault inspection comprises the inspection of the ground, a base plane, a tower, a grounding device, a stay wire and an insulator;
wherein, ground and base level patrol and examine and include: the unmanned aerial vehicle inspection system acquires image information of the ground and a base plane in an inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the ground and the base plane; the ground monitoring equipment displays the image data, and an inspection worker judges whether the ground is sunk due to the backfill loosening condition of the ground after excavation and whether the base surface is swelled due to water flooding or freezing by observing the images of the ground and the base surface in the image data;
wherein, patrolling and examining of shaft tower includes: the unmanned aerial vehicle inspection system lands on a tower and acquires image information of the tower or the periphery of the tower in the inspection process, wherein the image data of the unmanned aerial vehicle comprises the image information of the tower or the periphery of the tower; the ground monitoring equipment displays the image data, and the patrol personnel checks the firmness degree of the foundation of the tower by observing the shaking condition of the image around the tower or the tower in the image data;
wherein, earthing device's patrol and examine and include: the unmanned aerial vehicle inspection system acquires image information of the grounding device in the inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the grounding device; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the grounding device is broken or corroded and whether the grounding device is exposed or lost by observing the image of the grounding device in the image data.
Wherein, carry out the foreign matter of transmission line below passageway environment and patrol and examine including: the inspection of the lightning protection device, the bird prevention device and the detection device of the power transmission line;
wherein, the patrol and examine of lightning protection device includes: the unmanned aerial vehicle inspection system tests the conduction condition of the metal rod by using an own test pencil in the inspection process, and acquires image information of the test pencil and the metal rod, wherein the image data of the unmanned aerial vehicle comprises the image information of the test pencil and the metal rod; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the electrical conduction of the lightning protection device is abnormal or not and whether the metal rod is corroded, loosened, damaged or connected in series or not by observing the images of the test pencil and the metal rod in the image data;
wherein, the patrolling and examining of anti-bird device includes: the unmanned aerial vehicle inspection system acquires image information of the bird prevention device in the inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the bird prevention device; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the bird thorn in the bird-proof device is rusty, loosened or deformed by observing the image data;
wherein, detection device's patrolling and examining includes: unmanned aerial vehicle system of patrolling and examining utilizes its infrared positioner who takes certainly to detect the detection device's of peripheral attached facility of electric wire netting position information patrolling and examining the in-process, and unmanned aerial vehicle system of patrolling and examining's image data includes detection device's position information, and ground supervisory equipment shows image data, and whether the personnel of patrolling and examining exist the displacement trouble through observing detection device's position information judgement in the image data.
The fault routing inspection of the peripheral accessory facilities of the power grid comprises routing inspection of safe distance, operation compliance conditions and other dangerous conditions;
wherein, safe distance's patrolling and examining includes: the unmanned aerial vehicle inspection system acquires position information of a building and a power transmission line in an inspection process, image data of the unmanned aerial vehicle inspection system comprises the position information of the building and the power transmission line, ground monitoring equipment displays the image data, and inspection personnel judge whether the power transmission line is in a specified interval of a safe distance by observing the position information of the building and the power transmission line in the image data;
wherein, the patrol and examine of operation compliance condition includes: the unmanned aerial vehicle inspection system flies to a certain height in the inspection process, and image information of construction operation is acquired from a high visual angle; the image data of the unmanned aerial vehicle inspection system comprises image information for acquiring construction operation from a high visual angle, the ground monitoring equipment displays the image data, and inspection personnel judge whether the situation of unqualified construction operation exists or not by observing the image of the construction operation in the image data.
Wherein, other dangerous condition's patrolling and examining include: the ground monitoring equipment displays the image data, and the inspection personnel judge whether safe articles exist near the power transmission line or not by observing the image data and whether other conditions threatening the safety of the power transmission line such as collapse occur on the ground near the power transmission line or not.
EXAMPLE five
An embodiment of the present invention provides a computer device, including: the unmanned aerial vehicle inspection system is characterized by comprising an unmanned aerial vehicle inspection system, a data acquisition system and a data processing system; or, a memory and a processor, where the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to perform the steps of the unmanned aerial vehicle inspection method according to an embodiment of the present invention.
Of course, the computer device may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input/output, and the computer device may also include other components for implementing the functions of the device, which are not described herein again.
Illustratively, the computer program may be divided into one or more units, which are stored in the memory and executed by the processor to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the computer device.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center for the computer device and connects the various parts of the overall computer device using various interfaces and lines.
The memory may be used for storing the computer program and/or unit, and the processor may implement various functions of the computer device by executing or executing the computer program and/or unit stored in the memory and calling data stored in the memory. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
EXAMPLE six
The sixth embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the unmanned aerial vehicle inspection method according to the first embodiment of the present invention are implemented.
Specifically, the computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. An unmanned aerial vehicle inspection method is characterized by comprising the following steps:
carrying out inspection according to a preset inspection strategy to obtain image information of the power transmission line equipment and EXIF information corresponding to the image information;
acquiring position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;
naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;
and sending the image data to ground monitoring equipment.
2. An unmanned aerial vehicle inspection system for implementing the unmanned aerial vehicle inspection method according to claim 1, comprising:
the control unit is used for generating a patrol control instruction according to a preset patrol strategy;
the flight execution unit is used for flying according to the flight path information and the flight control information in the control command of the control unit;
the image acquisition unit is used for acquiring the image information of the target equipment and the EXIF information corresponding to the image information according to the control instruction of the control unit;
the information acquisition unit is used for acquiring the position information, the flight path information and the flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information;
the information processing unit is used for naming and storing the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time to obtain image data;
and the data sending unit is used for sending the image data to ground monitoring equipment.
3. The utility model provides a transmission line system of patrolling and examining, characterized in that includes:
one or more unmanned aerial vehicle inspection systems according to claim 2, configured to perform inspection according to a preset inspection policy, acquire image information of a target device and EXIF information corresponding to the image information, acquire position information, flight path information, and flight control information of the unmanned aerial vehicle inspection system corresponding to acquisition time of the image information, name and store the image information, the EXIF information, the position information, the flight path information, and the flight control information according to information storage time, and obtain image data;
the data transmission equipment is used for receiving the image data of the unmanned aerial vehicle inspection system and coding the image data according to a preset mode to obtain coded data;
and the ground monitoring equipment is used for receiving the coded data of the data transmission equipment, decoding the coded data to obtain image data and displaying the image data.
4. An inspection method for the power transmission line inspection system according to claim 3, characterized by comprising the steps of:
the unmanned aerial vehicle inspection system inspects according to a preset inspection strategy, acquires image information of target equipment and EXIF information corresponding to the image information, acquires position information, flight path information and flight control information of the unmanned aerial vehicle inspection system corresponding to the acquisition time of the image information, names the image information, the EXIF information, the position information, the flight path information and the flight control information according to information storage time, and stores the image information, the EXIF information, the position information, the flight path information and the flight control information to obtain image data;
the data transmission equipment receives image data of the unmanned aerial vehicle inspection system and encodes the image data according to a preset mode to obtain encoded data;
and the ground monitoring equipment receives the coded data of the data transmission equipment, decodes the coded data to obtain image data and displays the image data.
5. The inspection method according to claim 4, wherein the performing inspection according to the preset inspection policy includes:
and carrying out transmission line fault inspection, foreign matter inspection of a channel environment below the transmission line and fault inspection of peripheral accessory facilities of the power grid.
6. The inspection method according to claim 4, wherein the inspection of the transmission line faults includes inspection of ground and base planes, towers, grounding devices, pull wires and insulators;
wherein, ground and base level patrol and examine and include: the unmanned aerial vehicle inspection system acquires image information of the ground and a base plane in an inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the ground and the base plane; the ground monitoring equipment displays the image data, and an inspection worker judges whether the ground is sunk due to the backfill loosening condition of the ground after excavation and whether the base surface is swelled due to water flooding or freezing by observing the images of the ground and the base surface in the image data;
wherein, patrolling and examining of shaft tower includes: the unmanned aerial vehicle inspection system lands on a tower and acquires image information of the tower or the periphery of the tower in the inspection process, wherein the image data of the unmanned aerial vehicle comprises the image information of the tower or the periphery of the tower; the ground monitoring equipment displays the image data, and the patrol personnel checks the firmness degree of the foundation of the tower by observing the shaking condition of the image around the tower or the tower in the image data;
wherein, earthing device's patrol and examine and include: the unmanned aerial vehicle inspection system acquires image information of the grounding device in the inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the grounding device; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the grounding device is broken or corroded and whether the grounding device is exposed or lost by observing the image of the grounding device in the image data.
7. The inspection method according to claim 4, wherein the inspection for the foreign objects in the environment of the passage below the power transmission line comprises: the inspection of the lightning protection device, the bird prevention device and the detection device of the power transmission line;
wherein, the patrol and examine of lightning protection device includes: the unmanned aerial vehicle inspection system tests the conduction condition of the metal rod by using an own test pencil in the inspection process, and acquires image information of the test pencil and the metal rod, wherein the image data of the unmanned aerial vehicle comprises the image information of the test pencil and the metal rod; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the electrical conduction of the lightning protection device is abnormal or not and whether the metal rod is corroded, loosened, damaged or connected in series or not by observing the images of the test pencil and the metal rod in the image data;
wherein, the patrolling and examining of anti-bird device includes: the unmanned aerial vehicle inspection system acquires image information of the bird prevention device in the inspection process, and the image data of the unmanned aerial vehicle comprises the image information of the bird prevention device; the ground monitoring equipment displays the image data, and the inspection personnel judge whether the bird thorn in the bird-proof device is rusty, loosened or deformed by observing the image data;
wherein, detection device's patrolling and examining includes: unmanned aerial vehicle system of patrolling and examining utilizes its infrared positioner who takes certainly to detect the detection device's of peripheral attached facility of electric wire netting position information patrolling and examining the in-process, and unmanned aerial vehicle system of patrolling and examining's image data includes detection device's position information, and ground supervisory equipment shows image data, and whether the personnel of patrolling and examining exist the displacement trouble through observing detection device's position information judgement in the image data.
8. The inspection method according to claim 4, wherein the performing of the fault inspection of the peripheral ancillary facilities of the power grid includes inspection including safe distance, work compliance;
wherein, safe distance's patrolling and examining includes: the unmanned aerial vehicle inspection system acquires position information of a building and a power transmission line in an inspection process, image data of the unmanned aerial vehicle inspection system comprises the position information of the building and the power transmission line, ground monitoring equipment displays the image data, and inspection personnel judge whether the power transmission line is in a specified interval of a safe distance by observing the position information of the building and the power transmission line in the image data;
wherein, the patrol and examine of operation compliance condition includes: the unmanned aerial vehicle inspection system flies to a certain height in the inspection process, and image information of construction operation is acquired from a high visual angle; the image data of the unmanned aerial vehicle inspection system comprises image information for acquiring construction operation from a high visual angle, the ground monitoring equipment displays the image data, and inspection personnel judge whether the situation of unqualified construction operation exists or not by observing the image of the construction operation in the image data.
9. A computer device, comprising: the unmanned aerial vehicle inspection system according to claim 2; or, a memory and a processor, the memory having stored therein computer readable instructions, which, when executed by the processor, cause the processor to perform the steps of the power transmission line inspection method according to claim 1.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the power transmission line inspection method according to claim 1.
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