CN111258331A - Unmanned aerial vehicle power line operation and maintenance system and method - Google Patents
Unmanned aerial vehicle power line operation and maintenance system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle power line operation and maintenance system and method. The system realizes automatic operation and maintenance and overhaul of the power line through a path planning module, a data acquisition module, a data processing module, a map module, a storage module, a communication module and a ground receiving station, performs clustering analysis of a minimum variance function, least square fitting and safe distance diagnosis on point cloud data, enables the automatic detection result of the power line fault to be more accurate, selects the optimal maintainer through calculation of a task vector and a maintainer skill vector obtained through the fault type, comprehensively selects the maintainer by combining the distance of the maintainer, realizes automation of dispatching the maintainer, and enables the efficiency of the dispatcher to finish work to be higher. The problem of traditional unmanned aerial vehicle system unable automated inspection line fault, can't dispatch worker according to the trouble type is solved.
Description
Technical Field
The invention relates to the technical field of power line operation and maintenance, in particular to an unmanned aerial vehicle power line operation and maintenance overhauling system and method.
Background
Electric power application permeates to various aspects such as national and enterprise operation and development, national living and living, and the like, so that an electric power system is the basis of national economic development. However, the power system has multiple unsafe factors, and once a power accident occurs, the power system will affect individuals, enterprises or even countries to different degrees, so that the guarantee of normal and stable operation of the power grid is the work core of the power enterprise, and efficient power failure emergency repair is an important guarantee for the safety production of the power enterprise.
The power transmission line is regularly inspected, so that possible hidden dangers or losses can be effectively eliminated, and the operation safety of a power grid is guaranteed. However, the labor intensity of manual line patrol is high, the efficiency is low, dangers exist during high-voltage line inspection operation, and the method is useless for power transmission lines crossing barren mountains, open hills and deep groove canyons. Unmanned aerial vehicle patrols and examines technique and gradually popularize in the electric power industry, uses unmanned the inspection to replace the manual work to patrol and examine, except that the security is higher, work efficiency also promotes by a wide margin. However, with the deep application of the technology, the power industry has higher informatization and intelligentization requirements on unmanned aerial vehicle solutions. The current unmanned aerial vehicle technique of patrolling and examining only uses single unmanned aerial vehicle to carry on task load and carries out the task, carries out long-range the making a video recording through unmanned aerial vehicle, and whether the technical staff has the anomaly in observing the power line according to the video recording that unmanned aerial vehicle returned. Unmanned aerial vehicle patrols and examines and is not ideal in the aspect of the intelligent analysis processing of data yet.
Disclosure of Invention
The invention provides an unmanned aerial vehicle power line operation and maintenance system and method. The system realizes automatic operation, maintenance and overhaul of the power line, and solves the problems that the traditional power line monitoring data is not visual, the precision is low, the work is difficult to carry out in the area with complex terrain, the unmanned aerial vehicle system cannot automatically detect line faults, and the automatic dispatching can not be carried out according to the fault types.
An unmanned aerial vehicle power line operation and maintenance system comprises a path planning module, a data acquisition module, a data processing module, a map module, a storage module, a communication module and a ground receiving station.
The path planning module comprises a path planning unit and a height presetting unit, the path planning unit is used for presetting a flight route of the unmanned aerial vehicle according to an initial global map of an area where the power line is located, the height presetting unit is used for presetting a flight height according to the terrain height of the area where the power line is located and the height of the power transmission tower, and the unmanned aerial vehicle takes off according to the preset route and the preset height.
The data acquisition module comprises a laser radar LiDAR, a high-resolution camera, a GPS receiver, a three-axis gyroscope, a three-axis accelerometer, an infrared wave camera and an ultraviolet camera.
The data processing module comprises an obstacle avoidance calculating unit, a point cloud data processing unit, an image processing unit and a fault type calculating unit; the obstacle avoidance calculation unit is combined with the global map and the real-time point cloud data to achieve obstacle avoidance of the unmanned aerial vehicle, the point cloud data processing unit is used for carrying out power line extraction on the point cloud data, the image processing unit is used for processing the infrared image and the ultraviolet image, and the fault type calculation unit is used for generating a fault type according to the detection result.
The map module comprises a storage unit, a splicing unit and an updating unit, wherein the storage unit stores a global map, the splicing unit carries out continuous matching on the acquired point cloud data of different frames, and the updating unit constructs a local map of a scanning area and continuously updates the global map.
And the communication module feeds the power transmission tower and line fault data obtained by the data processing module back to the ground receiving station in a wireless communication mode.
And the ground receiving station dispatches a maintenance work order to the operation and maintenance personnel according to the fault type and the position.
An unmanned aerial vehicle power line operation and maintenance method comprises the following steps:
1. pre-planning the flight route of the unmanned aerial vehicle according to the initial global map of the area where the power line is located, and according to the terrain height H of the area0And height H of power transmission line towerePreset flying height H (t)i) The formula is as follows
H(ti)＝H0+He+ω (1)
Wherein omega is the preset safe distance of the unmanned plane,
setting the installation inclination angle theta of the laser scanner according to the range S and the preset flying height of the laser scanner, wherein the formula is as follows
θ＝arcsin(Hmax/S) (2)
The unmanned aerial vehicle takes off according to the pre-planned route and the preset height.
2. The unmanned aerial vehicle acquires point cloud data, high-resolution image data and position and attitude data in real time in the flight process.
3. And continuously matching the acquired point cloud data of different frames by combining the position data and the attitude data, constructing a local map of a scanning area, updating the global map for subsequent maintenance of power equipment, and realizing obstacle avoidance of the unmanned aerial vehicle by combining the global map and the real-time point cloud data.
4. Carrying out power line extraction on the point cloud data, and comprising the following steps:
4.1, performing clustering analysis on the elevation of the point cloud data, and calculating a minimum variance function by using a formula (3):
wherein h isjAs elevation of the point cloud data, HiIs the ith cluster center, and n is the number of cluster centers.
4.2 according to the n elevation values obtained by clustering, dividing the elevation of the point cloud data into n types, and extracting the power line point cloud on the basis of the point cloud.
4.3, performing center line fitting on the point clouds in the n categories by adopting a least square fitting method, wherein a curve with the minimum fitting variance is a power transmission line center curve equation.
4.4 based on transmission line central curve equation, generate accurate power line vector model, combine some cloud data and the proper amount model of power line to carry out the safe distance diagnosis, to transfinite power line point record, when transfinite power line point quantity exceedes preset numerical value W, record the spatial position coordinate of transfinite power line point.
5. The unmanned aerial vehicle carries out centralized monitoring to the scope of unusual power line point, utilizes infrared wave camera to carry out the hot spot detection to power transmission line corridor in the scope, utilizes ultraviolet camera to detect unusual discharge point, utilizes the power line of high resolution image within range to shoot to automatic extracting of carrying out insulator and transmission tower detects, generates the fault type according to the testing result.
6. And sending the spatial position coordinates of the over-limit power line point and the line fault data to a ground receiving station.
7. And the ground receiving station dispatches a maintenance work order to the operation and maintenance personnel according to the fault type and the position.
The beneficial effect of this application has:
1. the unmanned aerial vehicle power line operation and maintenance system realizes automatic operation and maintenance of the power line through path planning, data acquisition and processing, map construction and task distribution of the ground station.
2. The unmanned aerial vehicle power line operation and maintenance system utilizes various data to realize power line fault detection and obstacle avoidance, and redundant data guarantees the accuracy of a fault detection result.
3. The unmanned aerial vehicle power line operation and maintenance system continuously updates the map of the remote area, so that the follow-up unmanned aerial vehicle inspection is facilitated.
4. The unmanned aerial vehicle power line operation and maintenance method presets the flying height of the unmanned aerial vehicle and the installation inclination angle of the laser scanner, ensures the flying safety of the unmanned aerial vehicle, and enables the data range obtained by laser LiDAR to be larger and the purposiveness to be stronger.
5. The unmanned aerial vehicle power line operation and maintenance method carries out cluster analysis, least square fitting and safe distance diagnosis on the point cloud data, and can enable the automatic detection result of the power line fault to be more accurate.
6. The unmanned aerial vehicle power line operation and maintenance method selects the best maintenance personnel through calculation of task vectors and maintenance personnel skill vectors obtained through fault types, comprehensively selects the maintenance personnel by combining the distance of the maintenance personnel, achieves automation of dispatching of the maintenance personnel, and enables the efficiency of dispatching personnel to complete work to be higher.
Drawings
Fig. 1 is a composition diagram of an unmanned aerial vehicle power line operation and maintenance system.
Detailed Description
The unmanned aerial vehicle power line operation and maintenance system comprises a path planning module, a data acquisition module, a data processing module, a map module, a storage module, a communication module and a ground receiving station.
The path planning module plans the flight route of the unmanned aerial vehicle in advance according to the initial global map of the area where the power line is located, presets the flight height according to the terrain height of the area where the power line is located and the height of the power transmission tower, and the unmanned aerial vehicle takes off according to the pre-planned route and the preset height.
The data acquisition module comprises a laser radar LiDAR, a high-resolution camera, a GPS receiver, a three-axis gyroscope, a three-axis accelerometer, an infrared wave camera and an ultraviolet camera.
The data processing module is combined with the global map and the real-time point cloud data to achieve obstacle avoidance of the unmanned aerial vehicle, power line extraction is conducted on the point cloud data, extraction detection of the insulator and the power transmission tower is conducted, and fault types are generated according to detection results.
The map module stores a global map, continuously matches the acquired point cloud data of different frames, constructs a local map of a scanning area and continuously updates the global map.
And the communication module feeds the power transmission tower and line fault data obtained by the data processing module back to the ground receiving station in a wireless communication mode.
And the ground receiving station dispatches a maintenance work order to the operation and maintenance personnel according to the fault type and the position.
The unmanned aerial vehicle power line operation and maintenance method comprises the following steps:
1. pre-planning the flight route of the unmanned aerial vehicle according to the initial global map of the area where the power line is located, and according to the terrain height H of the area0And height H of power transmission line towerePreset flying height H (t)i) The formula is as follows
H(ti)＝H0+He+ω (1)
Wherein omega is the preset safe distance of the unmanned plane,
setting the installation inclination angle theta of the laser scanner according to the range S and the preset flying height of the laser scanner, wherein the formula is as follows
θ＝arcsin(Hmax/S) (2)
The unmanned aerial vehicle takes off according to the pre-planned route and the preset height.
2. The unmanned aerial vehicle acquires point cloud data, high-resolution image data and position and attitude data in real time in the flight process.
3. And continuously matching the acquired point cloud data of different frames by combining the position data and the attitude data, constructing a local map of a scanning area, updating the global map for subsequent maintenance of power equipment, and realizing obstacle avoidance of the unmanned aerial vehicle by combining the global map and the real-time point cloud data.
4. Carrying out power line extraction on the point cloud data, and comprising the following steps:
4.1, performing clustering analysis on the elevation of the point cloud data, and calculating a minimum variance function by using a formula (3):
wherein h isjAs elevation of the point cloud data, HiIs the ith cluster center, and n is the number of cluster centers.
4.2 according to the n elevation values obtained by clustering, dividing the elevation of the point cloud data into n types, and extracting the power line point cloud on the basis of the point cloud.
4.3, performing center line fitting on the point clouds in the n categories by adopting a least square fitting method, wherein a curve with the minimum fitting variance is a power transmission line center curve equation.
4.4 based on transmission line central curve equation, generate accurate power line vector model, combine some cloud data and the proper amount model of power line to carry out the safe distance diagnosis, to transfinite power line point record, when transfinite power line point quantity exceedes preset numerical value W, record the spatial position coordinate of transfinite power line point.
5. The unmanned aerial vehicle carries out centralized monitoring to the scope of unusual power line point, utilizes infrared wave camera to carry out the hot spot detection to power transmission line corridor in the scope, utilizes ultraviolet camera to detect unusual discharge point, utilizes the power line of high resolution image within range to shoot to automatic extracting of carrying out insulator and transmission tower detects, generates the fault type according to the testing result.
6. And sending the spatial position coordinates of the over-limit power line point and the line fault data to a ground receiving station.
7. And the ground receiving station dispatches a maintenance work order to the operation and maintenance personnel according to the fault type and the position. The dispatching method comprises the following specific steps:
7.1 the fault type, maintenance requirement and required skill level of the ground receiving station, generating a task vector list.T, receiving the space position coordinate, and generating a proper quantity of paths list.L.
7.2 the ground receiving station stores the maintainer WorkeriRepair skill vector listiList.t and list.workeriCarrying out vector similarity matching to obtain a matching rate PWorkeri：
For the matching rate PWorkeriAnd (6) sorting.
And 7.3 traversing a shortest path capable of traversing all fault points according to LIST.L to obtain a shortest path traveling point vector D.L.
7.4 according to the maintenance personal WorkeriNow the position, its shortest travel distance to D.L and travel point are calculated.
7.5 according to the matching ratio PWorkeriAnd comprehensively calculating the shortest travel distance, dispatching out workers and making a travel route.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (8)
1. The utility model provides an unmanned aerial vehicle power line operation and maintenance system, its characterized in that includes: the system comprises a path planning module, a data acquisition module, a data processing module, a map module, a storage module, a communication module and a ground receiving station;
the path planning module comprises a path planning unit and a height presetting unit, the path planning unit is used for presetting a flight route of the unmanned aerial vehicle according to an initial global map of an area where the power line is located, the height presetting unit is used for presetting a flight height according to the terrain height of the area where the power line is located and the height of the power transmission line tower, and the unmanned aerial vehicle takes off according to the preset route and the preset height;
the data acquisition module comprises a laser radar LiDAR, a high-resolution camera, a GPS receiver, a three-axis gyroscope, a three-axis accelerometer, an infrared wave camera and an ultraviolet camera;
the map module comprises a storage unit, a splicing unit and an updating unit, wherein the storage unit stores a global map, the splicing unit carries out continuous matching on the acquired point cloud data of different frames, and the updating unit constructs a local map of a scanning area and continuously updates the global map.
And the communication module feeds the power transmission tower and line fault data obtained by the data processing module back to the ground receiving station in a wireless communication mode.
2. The unmanned aerial vehicle power line operation and maintenance system of claim 1, wherein the data processing module comprises an obstacle avoidance calculation unit, a point cloud data processing unit, an image processing unit, and a fault type calculation unit; the obstacle avoidance calculation unit is combined with the global map and the real-time point cloud data to achieve obstacle avoidance of the unmanned aerial vehicle, the point cloud data processing unit is used for carrying out power line extraction on the point cloud data, the image processing unit is used for processing the infrared image and the ultraviolet image, and the fault type calculation unit is used for generating a fault type according to the detection result.
3. The unmanned aerial vehicle power line operation and maintenance system of claim 1, wherein the ground receiving station sends a maintenance work order to the operation and maintenance personnel according to the fault type and the location.
4. An unmanned aerial vehicle power line operation and maintenance method is characterized by comprising the following steps:
(1) pre-planning the flight route of the unmanned aerial vehicle according to the initial global map of the area where the power line is located, and according to the terrain height H of the area0And height H of power transmission line towerePreset flying height H (t)i) The unmanned aerial vehicle takes off according to the pre-planned route and the preset height;
(2) the method comprises the steps that an unmanned aerial vehicle obtains point cloud data, high-resolution image data and position and attitude data in real time in the flying process;
(3) continuously matching the acquired point cloud data of different frames by combining the position data and the attitude data, constructing a local map of a scanning area, updating a global map for subsequent maintenance of power equipment, and realizing obstacle avoidance of the unmanned aerial vehicle by combining the global map and the real-time point cloud data;
(4) performing power line extraction on point cloud data;
(5) the unmanned aerial vehicle carries out centralized monitoring on the range of the abnormal power line point, and generates a fault type according to a detection result;
(6) sending the spatial position coordinates of the fault power line point and the line fault data to a ground receiving station;
(7) and the ground receiving station dispatches a maintenance work order to the operation and maintenance personnel according to the fault type and the position.
5. The operation and maintenance method for the unmanned aerial vehicle power line according to claim 4, wherein the step (1) is performed according to the terrain height H of the region0And height H of power transmission line towerePreset flying height H (t)i) The formula is as follows:
H(ti)＝H0+He+ω (1)
wherein, safety distance is preset for unmanned aerial vehicle to omega.
6. The method of claim 4The unmanned aerial vehicle power line operation and maintenance method is characterized in that the step (1) further comprises the step of presetting the flight height H (t) according to the range S of the laser scanneri) Setting an installation inclination angle theta (t) of a laser scanneri) The formula is as follows:
θ(ti)＝arcsin(H(ti)/S) (2)。
7. the unmanned aerial vehicle power line operation and maintenance method according to claim 4, wherein the step (5) of centralized monitoring of the range of the abnormal power line point by the unmanned aerial vehicle specifically comprises: the method comprises the steps of utilizing an infrared wave camera to detect hot spots of power transmission line corridors in a range, utilizing an ultraviolet camera to detect abnormal discharge points, utilizing a power line in a high-resolution image range to shoot, and automatically extracting and detecting insulators and power transmission towers.
8. The unmanned aerial vehicle power line operation and maintenance method according to claim 4, wherein the step (4) of performing power line extraction on point cloud data comprises the following specific steps:
(4.1) carrying out clustering analysis on the elevation of the point cloud data, and calculating a minimum variance function by using a formula (3):
wherein h isjAs elevation of the point cloud data, HiIs the ith clustering center, and n is the number of the clustering centers;
(4.2) according to the n elevation values obtained by clustering, dividing the elevation of the point cloud data into n types, and extracting the power line point cloud on the basis of the point cloud;
(4.3) performing center line fitting on the point clouds in the n categories by adopting a least square fitting method, wherein a curve with the minimum fitting variance is a power transmission line center curve equation;
and (4.4) generating an accurate power line vector model based on a power transmission line central curve equation, carrying out safety distance diagnosis by combining point cloud data and a power line proper amount model, recording the over-limit power line points, and recording the spatial position coordinates of the over-limit power line points when the number of the over-limit power line points exceeds a preset value W.
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| CN112000124A (en) * | 2020-07-22 | 2020-11-27 | 广东顺德电力设计院有限公司 | Unmanned aerial vehicle inspection method applied to power grid |
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