CN111930133A - Transformer substation secondary screen cabinet inspection method based on rotor unmanned aerial vehicle - Google Patents
Transformer substation secondary screen cabinet inspection method based on rotor unmanned aerial vehicle Download PDFInfo
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- MXBCYQUALCBQIJ-RYVPXURESA-N (8s,9s,10r,13s,14s,17r)-13-ethyl-17-ethynyl-11-methylidene-1,2,3,6,7,8,9,10,12,14,15,16-dodecahydrocyclopenta[a]phenanthren-17-ol;(8r,9s,13s,14s,17r)-17-ethynyl-13-methyl-7,8,9,11,12,14,15,16-octahydro-6h-cyclopenta[a]phenanthrene-3,17-diol Chemical compound OC1=CC=C2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1.C1CC[C@@H]2[C@H]3C(=C)C[C@](CC)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 MXBCYQUALCBQIJ-RYVPXURESA-N 0.000 description 1
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a transformer substation secondary screen cabinet inspection method based on a rotor unmanned aerial vehicle, which is characterized in that an inspection path is reasonably designed, so that the unmanned aerial vehicle can efficiently traverse each screen cabinet area of a secondary screen cabinet, and a plurality of pictures are collected in front of the same screen cabinet area, so that the problem of unclear pictures caused by shooting jitter of the unmanned aerial vehicle is effectively solved, a foundation is laid for later image processing, and the method can be suitable for various types of secondary screen cabinet equipment of a transformer substation, and has important use value and significance.
Description
Technical Field
The invention relates to a transformer substation secondary screen cabinet inspection method, in particular to a transformer substation secondary screen cabinet inspection method based on a rotor unmanned aerial vehicle.
Background
The secondary screen cabinet is used as an important component for monitoring the running state of the high-voltage equipment in the substation room, and plays an important role in the normal running of the whole substation. At present, the inspection process of a secondary screen cabinet in a transformer substation mainly adopts manual inspection, tasks are repeated and tedious, abnormal historical images of equipment are not convenient to store, and a great deal of difficulty still exists in inspection work. Although some innovative cases for polling the secondary screen cabinet by using the rotor unmanned aerial vehicle are listed, due to the fact that the polling path is designed improperly, the unmanned aerial vehicle can not regularly traverse each region of the secondary screen cabinet, pictures of the screen cabinet are not clear, and the obtained images can not be used for image recognition processing in the later period. Therefore, in order to liberate both hands of workers in the transformer substation and improve the inspection efficiency, and realize the automation of the indoor inspection of the transformer substation, a secondary screen cabinet inspection method using a rotor unmanned aerial vehicle as a platform is urgently needed to solve the existing problems.
Disclosure of Invention
In view of the above, the invention aims to provide a transformer substation secondary screen cabinet inspection method based on a rotor unmanned aerial vehicle. The problems in the prior art can be overcome.
The purpose of the invention is realized by the following technical scheme:
a transformer substation secondary screen cabinet inspection method based on a rotor unmanned aerial vehicle comprises the following steps
Naming a secondary screen cabinet area needing to acquire images, designing a flight line of the unmanned aerial vehicle according to the characteristics of the secondary screen cabinet area, and setting the flight line as a callable flight control software package to be integrated into a control software module of the unmanned aerial vehicle;
uniformly laying an instruction for calling the flight control software package in an image code form which can be recognized by a camera of the unmanned aerial vehicle in a secondary screen cabinet area needing to acquire images, controlling the unmanned aerial vehicle to recognize the image code, automatically calling a line software package by a control software module in the unmanned aerial vehicle, automatically arranging a walking route according to the set flight instruction, hovering after reaching a specified position in front of the screen cabinet, and sequentially acquiring secondary screen cabinet pictures;
after naming the collected photos, transmitting the photos back to the ground server through the unmanned aerial vehicle image transmission system.
Particularly, the unmanned aerial vehicle carries two cameras, one camera is fixed on the head of the unmanned aerial vehicle, and the direction of the camera is aligned with the secondary screen cabinet and used for collecting the pictures of the secondary screen cabinet; and the other is used for shooting and identifying the image code integrating the instruction of calling the line software package.
Particularly, the image code adopts a two-dimensional code, and the type of the two-dimensional code is Apriltag two-dimensional code.
Particularly, each secondary screen cabinet is evenly divided into an upper part, a middle part and a lower part, the upper part and the middle part are various switches and indicator lamps, the lower part is only a baffle, each secondary screen cabinet is sequentially named by English letters according to the inspection direction of the unmanned aerial vehicle, the upper part, the middle part and the lower part of the first secondary screen cabinet are respectively named as an A1 area, an A2 area and an A3 area, the upper part, the middle part and the lower part of the second secondary screen cabinet are respectively named as a B1 area, a B2 area and a B3 area, and the rest is done in the same way.
In particular, the sequence of the panels for sequentially capturing images is a1 → a2 → B2 → B1 → C1 → C2 → D2 → D1 … …, i.e. the flight path of the drone is in a shape of a Chinese character 'ji'.
Particularly, the flight line of the unmanned aerial vehicle is planned through one or more flight control software packages, when one flight control software package is adopted, only one image code is needed, and the image code is arranged at the initial position of a secondary screen cabinet area where an image needs to be acquired; when a plurality of flight control software packages are adopted, a plurality of image codes are needed and distributed on the advancing path of the unmanned aerial vehicle for collecting the images.
Particularly, the number of the flight control software packages is the same as that of the image codes and the secondary screen cabinets, the image codes are uniformly laid on the ground corresponding to the central axis of each secondary screen cabinet, the horizontal distance between the center of each two-dimensional code and the corresponding screen cabinet is 50cm, and the distance between the centers of the two-dimensional codes is equal to the width of each secondary screen cabinet.
In particular, the hover at the specified location is: and the intersection point of a straight line which passes through the center of each secondary screen cabinet area and is perpendicular to the screen cabinet area and a straight line which passes through the front image code center of the panel cabinet and is perpendicular to the ground is the designated position for hovering the unmanned aerial vehicle.
Particularly, the unmanned aerial vehicle adopts linear flight when image acquisition is carried out in the area of the secondary screen cabinet, namely, the unmanned aerial vehicle only carries out vertical flight perpendicular to the ground and horizontal flight parallel to the secondary screen cabinet
In particular, the naming rule for the collected photos is named according to the area name to which the photos belong and the collection sequence of 10 photos in each area.
The invention has the beneficial effects that: according to the invention, through reasonably designing the routing inspection path, the unmanned aerial vehicle can efficiently traverse each screen cabinet area of the secondary screen cabinet, and multiple pictures are collected in front of the same screen cabinet area, so that the problem of unclear pictures caused by shooting jitter of the unmanned aerial vehicle is effectively solved, a foundation is laid for later image processing, and the method can be suitable for various types of secondary screen cabinet equipment of a transformer substation, and has important use value and significance.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the present 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.
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In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a front view of an image acquisition path of an unmanned aerial vehicle;
FIG. 2 is a side view of an image acquisition path for an unmanned aerial vehicle;
FIG. 3 is a field photograph of an image acquisition process of an unmanned aerial vehicle;
fig. 4-7 are secondary screen cabinet pictures collected by the drone.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
The transformer substation secondary screen cabinet inspection method based on the rotor unmanned aerial vehicle comprises the following steps:
(1) naming a secondary screen cabinet area needing to acquire images, designing a flight line of the unmanned aerial vehicle according to the characteristics of the secondary screen cabinet area, and setting the flight line as a callable flight control software package to be integrated into a control software module of the unmanned aerial vehicle;
(2) uniformly laying an instruction for calling the flight control software package in an image code form which can be recognized by a camera of the unmanned aerial vehicle in a secondary screen cabinet area needing to acquire images, controlling the unmanned aerial vehicle to recognize the image code, automatically calling a line software package by a control software module in the unmanned aerial vehicle, automatically arranging a walking route according to the set flight instruction, hovering after reaching a specified position in front of the screen cabinet, and sequentially acquiring secondary screen cabinet pictures; in this embodiment, the image code is a two-dimensional code, and the type is an Apri lTag label two-dimensional code.
(3) After naming the collected photos, transmitting the photos back to the ground server through the unmanned aerial vehicle image transmission system.
The unmanned aerial vehicle carries two cameras, one camera is fixed on the head of the unmanned aerial vehicle, and the direction of the camera is aligned with the secondary screen cabinet and used for collecting the pictures of the secondary screen cabinet; and the other is used for shooting and identifying the image code integrating the instruction of calling the line software package.
In this embodiment, a row of 6 screen cabinets is provided, each screen cabinet is 240cm in height and 80cm in width, and no space is provided between the screen cabinets. Every secondary screen cabinet is even divide into upper, middle and lower triplex, and upper and middle part is all kinds of switches and pilot lamp, and the lower part is only the baffle, need not to patrol and examine. According to the unmanned aerial vehicle inspection direction, each secondary screen cabinet is named sequentially by English letters in sequence, wherein the upper part, the middle part and the lower part of the first secondary screen cabinet are named as an A1 area, an A2 area and an A3 area respectively, the upper part, the middle part and the lower part of the second secondary screen cabinet are named as a B1 area, a B2 area and a B3 area respectively, and the rest can be done in the same way.
The sequence of the panels for collecting the images in sequence is A1 → A2 → B2 → B1 → C1 → C2 → D2 → D1 … …, namely, the flight path of the unmanned aerial vehicle is in a shape of a Chinese character ji.
Hovering at the specified position is: and the intersection point of a straight line which passes through the center of each secondary screen cabinet area and is perpendicular to the screen cabinet area and a straight line which passes through the front image code center of the panel cabinet and is perpendicular to the ground is the designated position for hovering the unmanned aerial vehicle.
The unmanned aerial vehicle adopts the straight line flight when carrying out image acquisition in the secondary screen cabinet area, and the unmanned aerial vehicle only carries out the vertical flight perpendicular to the ground and the horizontal flight about being parallel to the secondary screen cabinet promptly
The naming rule for the captured photographs is based on the name of the area to which the photograph belongs and the capture order of 10 photographs per area.
The flight line of the unmanned aerial vehicle is planned through a plurality of flight control software packages, and when the flight control software packages are adopted, a plurality of image codes are needed and distributed on the advancing path of the images collected by the unmanned aerial vehicle. The flight control software package is a plurality of, and the quantity is the same with image code and secondary screen cabinet's quantity, evenly lays image code on the ground that every secondary screen cabinet's axis corresponds, and the horizontal distance between image code center and the screen cabinet that corresponds is 50cm, and the interval of two image code centers equals the width of secondary screen cabinet.
In this embodiment, the image acquisition process of the unmanned aerial vehicle is as follows: when the image code (two-dimensional code) in front of the A screen cabinet is identified, the unmanned aerial vehicle stops moving forward and starts to adjust the posture of the unmanned aerial vehicle. When the unmanned aerial vehicle is suspended above the two-dimensional code in front of the A screen cabinet gradually and stably, the unmanned aerial vehicle starts to adjust the height of the unmanned aerial vehicle and finally reaches a suspension point 1 shown in fig. 2, after the unmanned aerial vehicle is stabilized again, image acquisition is started to be performed on an A1 screen cabinet area, naming rules for acquiring photos are named according to area names to which the photos belong and acquisition sequence of 10 photos in each area, and if the 10 photos of the A1 area screen cabinet are named sequentially: a10, A11, … and A19, and so on, the pictures of the rest areas, and the screen cabinet area to which the picture belongs can be directly identified by the picture name, as shown in FIG. 3. After 10 pictures were taken and named a10-a19 in sequence, the drone transmitted the pictures to the ground server in real time.
After the acquisition of the A1 screen cabinet area is completed, the unmanned aerial vehicle starts to descend to reach the position of the suspension point 2 shown in the figure 2, starts to acquire images of the A2 screen cabinet area, names the images in sequence and transmits the images to the ground server in real time. At this point, the image acquisition of the a1 cabinet is complete.
Unmanned aerial vehicle continues horizontal flight along the direction that is on a parallel with the screen cabinet, looks for the ground two-dimensional code before the B screen cabinet. After the bottom camera detects the two-dimensional code, the unmanned aerial vehicle starts hovering, images are collected on a B2 screen cabinet area firstly, and then images are collected on a B1 screen cabinet area through repeated operation. By analogy, the unmanned aerial vehicle finishes image acquisition and transmission of 6 screen cabinets and 12 screen cabinet areas in total along the path shown by the arrow in fig. 1 according to the path shaped like a Chinese character 'ji'.
Finally, the secondary screen cabinet pictures collected and transmitted by the unmanned aerial vehicle to the ground server are shown in fig. 4, 5, 6 and 7.
Example two
The difference between this embodiment and the first embodiment lies in, only adopts a flight control software package, and this flight control software package has covered the flight instruction set of whole route, consequently only needs an image code, and this image code setting need gather the regional initial position of secondary screen cabinet of image can, after controlling this image code of unmanned aerial vehicle discernment, will patrol and examine along the route of setting for automatically. The mode is suitable for the conditions that the routing inspection route is single and the area is not complex.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The unmanned aerial vehicle inspection method provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein using specific examples, which are presented solely to aid in the understanding of the methods and their core concepts,
finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. A transformer substation secondary screen cabinet inspection method based on a rotor unmanned aerial vehicle is characterized in that: the method comprises the following steps
Naming a secondary screen cabinet area needing to acquire images, designing a flight line of the unmanned aerial vehicle according to the characteristics of the secondary screen cabinet area, and setting the flight line as a callable flight control software package to be integrated into a control software module of the unmanned aerial vehicle;
uniformly laying an instruction for calling the flight control software package in an image code form which can be recognized by a camera of the unmanned aerial vehicle in a secondary screen cabinet area needing to acquire images, controlling the unmanned aerial vehicle to recognize the image code, automatically calling a line software package by a control software module in the unmanned aerial vehicle, automatically arranging a walking route according to the set flight instruction, hovering after reaching a specified position in front of the screen cabinet, and sequentially acquiring secondary screen cabinet pictures;
after naming the collected photos, transmitting the photos back to the ground server through the unmanned aerial vehicle image transmission system.
2. The transformer substation secondary screen cabinet inspection method based on the unmanned gyroplane according to claim 1, which is characterized in that: the unmanned aerial vehicle carries two cameras, one camera is fixed on the head of the unmanned aerial vehicle, and the direction of the camera is aligned with the secondary screen cabinet and used for collecting the pictures of the secondary screen cabinet; and the other is used for shooting and identifying the image code integrating the instruction of calling the line software package.
3. The transformer substation secondary screen cabinet inspection method based on the rotor unmanned aerial vehicle according to claim 1 or 2, characterized in that: the image code adopts a two-dimensional code, and the type of the image code is AprilTag label two-dimensional code.
4. The transformer substation secondary screen cabinet inspection method based on the unmanned gyroplane according to claim 1, which is characterized in that: every secondary screen cabinet is even divide into upper, middle, lower triplex, upper and middle part is all kinds of switches and pilot lamp, and the lower part is only the baffle, patrols and examines the direction according to unmanned aerial vehicle, and every secondary screen cabinet names with the english letter in proper order, and wherein the upper, middle, lower part of first secondary screen cabinet is named A1 region respectively, A2 region, A3 region, and the upper, middle, lower part of second secondary screen cabinet is named B1 region respectively, B2 region, B3 region, so on.
5. The transformer substation secondary screen cabinet inspection method based on the unmanned gyroplane is characterized in that: the sequence of the panels for collecting the images in sequence is A1 → A2 → B2 → B1 → C1 → C2 → D2 → D1 … …, namely, the flight path of the unmanned aerial vehicle is in a shape of a Chinese character ji.
6. A substation secondary screen cabinet inspection method based on a rotor unmanned aerial vehicle according to claim 1, 2 or 3, characterized in that: the flight line of the unmanned aerial vehicle is planned through one or more flight control software packages, when one flight control software package is adopted, only one image code is needed, and the image code is arranged at the initial position of a secondary screen cabinet area where an image needs to be acquired; when a plurality of flight control software packages are adopted, a plurality of image codes are needed and distributed on the advancing path of the unmanned aerial vehicle for collecting the images.
7. The transformer substation secondary screen cabinet inspection method based on the unmanned rotorcraft according to claim 6, characterized in that: the flight control software package is a plurality of, and the quantity is the same with image code and secondary screen cabinet's quantity, evenly lays image code on the ground that every secondary screen cabinet's axis corresponds, and the horizontal distance between two-dimensional code center and the screen cabinet that corresponds is 50cm, and the interval of two-dimensional code centers equals the width of secondary screen cabinet.
8. The transformer substation secondary screen cabinet inspection method based on the unmanned gyroplane according to claim 1, which is characterized in that: the hovering position is as follows: and the intersection point of a straight line which passes through the center of each secondary screen cabinet area and is perpendicular to the screen cabinet area and a straight line which passes through the front image code center of the panel cabinet and is perpendicular to the ground is the designated position for hovering the unmanned aerial vehicle.
9. The transformer substation secondary screen cabinet inspection method based on the unmanned gyroplane according to claim 1, which is characterized in that: unmanned aerial vehicle adopts the straight line flight when secondary screen cabinet region carries out image acquisition, and unmanned aerial vehicle only carries out the vertical flight on perpendicular to ground and the horizontal flight about being on a parallel with the secondary screen cabinet promptly.
10. The transformer substation secondary screen cabinet inspection method based on the unmanned gyroplane according to claim 1, which is characterized in that: the naming rule for the collected photos is named according to the area name of the photos and the collection sequence of 10 photos in each area.
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