CN112051228B - Method, device and system for generating transmission line inspection report - Google Patents
Method, device and system for generating transmission line inspection report Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 140
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- 238000007689 inspection Methods 0.000 title claims abstract description 49
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/3103—Atomic absorption analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/60—Specific applications or type of materials
- G01N2223/646—Specific applications or type of materials flaws, defects
Abstract
The application discloses a method for generating a patrol report of a power transmission line, which comprises the steps of determining the positions of obstacles around the power transmission line through position determining equipment; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line; acquiring a spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum; and generating a patrol report of the power transmission line according to the position and the material type. According to the method for generating the inspection report, the inspection report is generated according to the position of the obstacle and the material type of the obstacle, wherein the position of the obstacle is determined by the position determining equipment, the material type of the obstacle is directly determined by the spectrum of atoms excited by the laser of the obstacle, the data of all environments where the power transmission line is located are not required to be subjected to noise removal, deviation correction, rendering and the like, the inspection report generation efficiency is very fast, and the inspection report generation method is very fast. In addition, the application also provides a device and a system with the advantages.
Description
Technical Field
The application relates to the technical field of line inspection, in particular to a method, a device and a system for generating an inspection report of a power transmission line.
Background
The function of the transmission line is to transmit electric energy, which is an important infrastructure of the power grid. Obstacles such as branches often exist around the power transmission line, and once the obstacles are pressed on the power transmission line, the power transmission line is affected, and even the power transmission line is broken.
At present, a patrol report for carrying out patrol on the power transmission line comprises a recognition result of obstacles around the power transmission line, a defect detection result of hardware fittings on the power transmission line and the like. The obstacle recognition of the power transmission line is realized by the unmanned aerial vehicle carrying the laser radar, data of all environments where the power transmission line is located are scanned at a certain height above a tower pole, then a series of processing procedures such as denoising, correcting error and rendering are performed, the point cloud data are classified according to categories, a map is needed to be used at some time in classification, a power transmission line model is needed to be established, the whole recognition process is very complicated and low in efficiency, and further the patrol report generation process is complex and low in efficiency.
Therefore, how to solve the above technical problems should be of great interest to those skilled in the art.
Disclosure of Invention
The application aims to provide a method, a device and a system for generating a power transmission line inspection report so as to improve the efficiency of inspection report generation.
In order to solve the technical problems, the application provides a method for generating a patrol report of a power transmission line, which comprises the following steps:
determining the position of an obstacle around the transmission line by a position determining device; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line;
acquiring a spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum;
and generating a patrol report of the power transmission line according to the position and the material type.
Optionally, before the acquiring the spectrum of the atom excited by the laser, the method further includes:
determining a distance between the unmanned aerial vehicle and the obstacle;
judging whether the distance is smaller than a preset distance threshold value or not;
and if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
Optionally, the acquiring the spectrum of the atoms of the obstacle excited by the laser includes:
transmitting a laser irradiation command to a laser so that the laser emits laser light for irradiating the obstacle to excite the obstacle to form atoms;
the spectrum generated from the light emitted by the detector from the atoms is acquired.
Optionally, when the position determining device is a single-line laser radar, the determining, by the position determining device, the position of the obstacle around the transmission line includes:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
and determining the position of the obstacle according to the angle, the distance and the position of the unmanned aerial vehicle.
Optionally, before the position determining device determines the position of the obstacle around the transmission line, the method further includes:
adjusting the head direction of the unmanned aerial vehicle so that the head direction is perpendicular to the power transmission line;
acquiring azimuth information of the power transmission line through the single-line laser radar; the azimuth information comprises an angle and a distance;
judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
if not, correcting the deviation of the unmanned aerial vehicle according to the preset aviation flight parameters, so that the unmanned aerial vehicle flies along the power transmission line.
Optionally, the obtaining, by the single-line lidar, the azimuth information of the power transmission line includes:
acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
removing abnormal values in the angles to be processed and the distances to be processed by using a Kalman filtering algorithm, and correspondingly obtaining angles after removal and distances after removal;
determining the average value of the angles after the elimination as the angle;
and determining the minimum value in the removed distance as the distance.
Optionally, after the determining the material type of the obstacle according to the spectrum, the method further includes:
controlling X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
acquiring the intensity of the X-rays passing through the hardware fitting;
constructing an image of the hardware fitting according to the X-ray intensity, and determining a defect detection result of the hardware fitting according to the image;
correspondingly, the generating the inspection report of the power transmission line according to the position and the material type comprises the following steps:
and generating a patrol report of the power transmission line according to the position, the material type, the defect detection result and the hardware name.
The application also provides a device for generating the inspection report of the power transmission line, which comprises the following steps:
the determining module is used for determining the positions of obstacles around the power transmission line through the position determining equipment; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line;
the acquisition and determination module is used for acquiring the spectrum of the atoms excited out by the obstacle and determining the material type of the obstacle according to the spectrum;
and the generation module is used for generating a patrol report of the power transmission line according to the position and the material type.
The application also provides a system for generating the inspection report of the power transmission line, which comprises the following steps:
unmanned plane;
a position determining device mounted on the unmanned aerial vehicle;
the laser detection device is mounted on the unmanned aerial vehicle and is used for emitting laser for exciting the obstacle, so that the obstacle is excited out of atoms, and a spectrum is generated according to the atoms;
and the power transmission line inspection report generating device is used for executing the steps of any power transmission line inspection report generating method.
Optionally, the method further comprises:
and an X-ray flaw detection device mounted on the unmanned plane.
The application provides a method for generating a patrol report of a power transmission line, which comprises the steps of determining the positions of obstacles around the power transmission line through position determining equipment; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line; acquiring a spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum; and generating a patrol report of the power transmission line according to the position and the material type.
Therefore, the method for generating the inspection report generates the inspection report according to the position of the obstacle and the material type of the obstacle, wherein the position of the obstacle is determined by the position determining equipment, the material type of the obstacle is directly determined by the spectrum of the atoms excited by the laser of the obstacle, and the data of all environments where the power transmission line is located do not need to be subjected to denoising, deviation correcting, rendering and other processes, so that the method is very rapid, and the inspection report generating efficiency is improved.
In addition, the application also provides a device and a system with the advantages.
Drawings
For a clearer description of embodiments of the application or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for generating a patrol report of a power transmission line according to an embodiment of the present application;
fig. 2 is a flowchart of another method for generating a patrol report of a power transmission line according to an embodiment of the present application;
fig. 3 is a flowchart of another method for generating a patrol report of a power transmission line according to an embodiment of the present application;
fig. 4 is a block diagram of a power transmission line inspection report generating device according to an embodiment of the present application;
fig. 5 is a schematic diagram of a system for generating a patrol report of a power transmission line according to an embodiment of the present application.
Detailed Description
In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
As described in the background art, at present, the obstacle of the power transmission line is identified by the unmanned aerial vehicle carrying the laser radar, data of all environments where the power transmission line is located are scanned at a certain height above the tower pole, then a series of processing procedures such as denoising, correcting error, rendering and the like are performed, point cloud data are classified according to categories, the categories are classified into vegetation, rivers and the like, a map is needed to be used at some time during classification, and a power transmission line model needs to be established, so that the whole identification process is very complicated and low in efficiency, and the generation efficiency of a patrol report is low.
In view of this, the present application provides a method for generating a patrol report of a power transmission line, please refer to fig. 1, fig. 1 is a flowchart of a method for generating a patrol report of a power transmission line, which includes:
step S101: determining the position of an obstacle around the transmission line by a position determining device; the position determining device is mounted on an unmanned aerial vehicle flying along the power transmission line.
Optionally, when the position determining device is a single-line laser radar, the determining, by the position determining device, the position of the obstacle around the transmission line includes:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
and determining the position of the obstacle according to the angle, the distance and the position of the unmanned aerial vehicle.
The position of the obstacle may be measured by a multi-line laser radar or an infrared distance measuring device.
It should be noted that the position of the unmanned aerial vehicle is an absolute position, and then the position of the obstacle can be obtained according to the relative angle and distance between the obstacle and the unmanned aerial vehicle.
Step S102: and acquiring the spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum.
Optionally, the acquiring the spectrum of the atoms of the obstacle excited by the laser includes:
transmitting a laser irradiation command to a laser so that the laser emits laser light for irradiating the obstacle to excite the obstacle to form atoms;
the spectrum generated by the detector from the light emitted by the atoms is acquired.
Wherein, the material type of the barrier is determined based on a laser-induced breakdown spectroscopy technology. The laser is focused pulse laser, and thousands of times of laser can be emitted within 1 second, so that the area of the barrier irradiated by the laser is ablated and peeled off, and a nanoparticle cloud cluster is formed above the barrier. Since the peak energy of the laser is quite high, its absorption and multiphoton ionization effects increase the opacity of the nanoparticle cloud generated over the obstacle. The energy of the laser is significantly absorbed by the nanoparticle cloud, gradually forming a plasma, which melts the nanoparticles, excites atoms therein, and emits light. The detector can generate a spectrum according to light emitted by atoms, and the elemental information existing in the obstacle can be obtained by analyzing the spectrum, so that the material type of the obstacle can be obtained. Analysis of the spectrum includes qualitative and quantitative analysis.
In quantitative analysis, the detection limit can reach 10ppm to 100ppm for most elements, the relative standard deviation of the measurement results can reach 3-5%, and can reach 2% or even <1% for homogeneous materials, with high accuracy.
Step S103: and generating a patrol report of the power transmission line according to the position and the material type.
According to the method for generating the inspection report, the inspection report is generated according to the position of the obstacle and the material type of the obstacle, wherein the position of the obstacle is determined by the position determining equipment, the material type of the obstacle is directly determined by the spectrum of atoms excited by the laser of the obstacle, the data of all environments where the power transmission line is located are not required to be subjected to noise removal, deviation correction, rendering and the like, the inspection report generation efficiency is very fast, and the inspection report generation method is very fast.
Referring to fig. 2, fig. 2 is a flowchart of another method for generating a patrol report of a power transmission line according to an embodiment of the present application. The method comprises the following steps:
step S201: determining the position of an obstacle around the transmission line by a position determining device; the position determining device is mounted on an unmanned aerial vehicle flying along the power transmission line.
Step S202: and determining the distance between the unmanned aerial vehicle and the obstacle.
Step S203: and judging whether the distance is smaller than a preset distance threshold value.
It should be noted that, in the present application, the preset distance threshold is not specific and may be determined according to circumstances. Typically, the preset distance threshold may be 4 meters.
Step S204: and if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
When the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold, step S205 is directly performed.
Step S205: and acquiring the spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum.
Step S206: and generating a patrol report of the power transmission line according to the position and the material type.
In this embodiment, after it is determined that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold, the spectrum of the atom excited by the laser beam of the obstacle is acquired, and the material type of the obstacle is determined, so that the accuracy of spectrum acquisition can be improved, and the accuracy of the material type determination result can be further improved.
On the basis of the above embodiments, in one embodiment of the present application, before the determining, by the position determining device, the position of the obstacle around the transmission line further includes:
adjusting the head direction of the unmanned aerial vehicle so that the head direction is perpendicular to the power transmission line;
acquiring azimuth information of the power transmission line through the single-line laser radar; the azimuth information comprises an angle and a distance;
judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
if not, correcting the deviation of the unmanned aerial vehicle according to the preset aviation flight parameters, so that the unmanned aerial vehicle flies along the power transmission line.
If the transmission line is in the preset angle fluctuation range and the preset offline distance fluctuation range, correction is not needed, and the current flight state is kept.
Preferably, when the direction of the machine head of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle is controlled to fly to a parallel position with the power transmission line, wherein the parallel position is the left side or the right side of the power transmission line, and the single-line laser radar and the power transmission line are on the same horizontal plane. At this time, the single-line laser radar faces the power transmission line, and the angle between the single-line laser radar and the power transmission line is 90 degrees.
It should be noted that the preset angle fluctuation range is not particularly limited in the present application, as the case may be. For example, the predetermined angular fluctuation range may be 85 ° -95 °. Similarly, the preset offline distance fluctuation range in the present application is not limited specifically, and is determined according to circumstances. For example, the preset offline distance fluctuation range may be 4m-6m.
Further, the obtaining, by the single-line lidar, the azimuth information of the power transmission line includes:
acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
removing abnormal values in the angles to be processed and the distances to be processed by using a Kalman filtering algorithm, and correspondingly obtaining angles after removal and distances after removal;
determining the average value of the angles after the elimination as the angle;
and determining the minimum value in the removed distance as the distance.
Because the single-line laser radar obtains the distance and the angle within the range of 360 degrees, and the unmanned plane is nearest to the power transmission line, the angle between the single-line laser radar and the power transmission line is 90 degrees, a group of angles and distance information with the minimum distance and the angle of 90 degrees are screened out, and the angle and the distance information are real-time azimuth information of the power transmission line.
Referring to fig. 3, fig. 3 is a flowchart of another method for generating a patrol report of a power transmission line according to an embodiment of the present application. The method comprises the following steps:
step S301: determining the position of an obstacle around the transmission line by a position determining device; the position determining device is mounted on an unmanned aerial vehicle flying along the power transmission line.
Step S302: and determining the distance between the unmanned aerial vehicle and the obstacle.
Step S303: and judging whether the distance is smaller than a preset distance threshold value.
Step S304: and if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold.
Step S305: and acquiring the spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum.
Step S306: and controlling the X-ray flaw detection equipment to emit X-rays to the hardware fittings on the power transmission line in different directions.
The hardware refers to a metal part connecting a pole tower, a power transmission line, a ground wire and an insulator.
When X-rays penetrate the hardware fitting, the absorption capacity of the defective part of the hardware fitting for the X-rays is different from that of the surrounding intact parts, so that the X-ray intensity penetrating the defective part is different from that of the surrounding intact parts.
Step S307: and acquiring the intensity of the X-rays passing through the hardware fitting.
Step S308: and constructing an image of the hardware fitting according to the X-ray intensity, and determining a defect detection result of the hardware fitting according to the image.
The intensity of the X-ray is subjected to analog-digital conversion to obtain digital intensity information of different parts, and the digital intensity information is corrected and subjected to image reconstruction processing to obtain a real image of the hardware fitting on a certain section, so that the defect detection result of the hardware fitting is determined.
Step S309: and generating a patrol report of the power transmission line according to the position, the material type, the defect detection result and the hardware name.
Optionally, in an embodiment of the present application, after determining a material type of the obstacle according to the spectrum, the method further includes:
acquiring an environmental spectrum of an atom excited by laser in an environment where the power transmission line is located, and determining the type of the environment where the power transmission line is located according to the environmental spectrum;
the type of environment may be water, mountain soil, rock, and the like.
Correspondingly, generating the inspection report of the transmission line according to the position and the material type comprises:
and generating a patrol report of the power transmission line according to the position, the material type and the environment type.
The following describes a transmission line inspection report generating device provided by the embodiment of the present application, and the transmission line inspection report generating device described below and the transmission line inspection report generating method described above may be referred to correspondingly.
Fig. 4 is a block diagram of a power transmission line inspection report generating device according to an embodiment of the present application, and referring to fig. 4, the power transmission line inspection report generating device may include:
a determining module 100, configured to determine, by using a position determining device, a position of an obstacle around the power transmission line; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line;
an acquisition and determination module 200, configured to acquire a spectrum of an atom excited by the obstacle, and determine a material type of the obstacle according to the spectrum;
and the generation module 300 is used for generating a patrol report of the power transmission line according to the position and the material type.
The power transmission line inspection report generating device of the present embodiment is configured to implement the foregoing power transmission line inspection report generating method, so that the detailed description of the power transmission line inspection report generating device may be found in the foregoing embodiment part of the power transmission line inspection report generating method, for example, the determining module 100, the acquiring and determining module 200, and the generating module 300, which are respectively configured to implement steps S101, S102, and S103 in the foregoing power transmission line inspection report generating method, so that the detailed description thereof may refer to the corresponding descriptions of each part of embodiments, and will not be repeated herein.
Optionally, the inspection report generating device of the electrical circuit further includes:
a distance determining module, configured to determine a distance between the unmanned aerial vehicle and the obstacle;
the first judging module is used for judging whether the distance is smaller than a preset distance threshold value or not;
and the adjusting module is used for adjusting the position of the unmanned aerial vehicle if the distance is not smaller than the preset distance threshold value, so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold value.
Optionally, the acquiring and determining module 200 includes:
a transmitting unit configured to transmit a laser irradiation instruction to a laser so that the laser emits laser light that irradiates the obstacle, causing the obstacle to be excited with atoms;
a first acquisition unit for acquiring the spectrum generated by the detector from the light emitted by the atoms.
Optionally, the determining module 100 is specifically configured to:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
and determining the position of the obstacle according to the angle, the distance and the position of the unmanned aerial vehicle.
Optionally, the inspection report generating device of the electrical circuit further includes:
the direction adjusting module is used for adjusting the machine head direction of the unmanned aerial vehicle so that the machine head direction is perpendicular to the power transmission line;
the azimuth acquisition module is used for acquiring azimuth information of the power transmission line through the single-line laser radar; the azimuth information comprises an angle and a distance;
the second judging module is used for judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
and the deviation rectifying module is used for rectifying deviation of the unmanned aerial vehicle according to preset aviation flight parameters if not, so that the unmanned aerial vehicle flies along the power transmission line.
Optionally, the azimuth acquisition module includes:
the second acquisition unit is used for acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
the eliminating unit is used for eliminating abnormal values in the angles to be processed and the distances to be processed by using a Kalman filtering algorithm, and correspondingly obtaining an angle after elimination and a distance after elimination;
the first determining unit is used for determining the average value of the angles after the elimination as the angle;
and the second determining unit is used for determining the minimum value in the removed distance as the distance.
Optionally, the inspection report generating device of the electrical circuit further includes:
the control module is used for controlling the X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
the intensity acquisition module is used for acquiring the intensity of the X-rays passing through the hardware fitting;
the defect determining module is used for constructing an image of the hardware fitting according to the X-ray intensity and determining a defect detection result of the hardware fitting according to the image;
correspondingly, the generating module 300 is specifically configured to generate a patrol report of the power transmission line according to the position, the material type, the defect detection result, and the hardware name.
The system for generating the inspection report of the electric transmission line, which is described below, and the method for generating the inspection report of the electric transmission line described above can be referred to correspondingly.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a system for generating a patrol report of a power transmission line according to an embodiment of the present application, where the system includes:
an unmanned plane 1;
a position determining device 2 mounted on the unmanned plane 1;
a laser detection device 3 mounted on the unmanned aerial vehicle 1, for emitting laser for exciting an obstacle, so that the obstacle is excited with atoms, and generating a spectrum according to the atoms;
and the power transmission line inspection report generating device 4 is used for executing the steps of the power transmission line inspection report generating method according to the embodiment.
The position determining device 2 may be a single-line laser radar, where the single-line laser radar rotates for 360 ° at a fixed frequency or a rotation speed to obtain relative position information of the obstacle and the unmanned aerial vehicle, and the rotation speed of the single-line laser radar may reach 600r/min. The plurality of groups of angles and distances returned by the single-line laser radar comprise angles and distances between the unmanned aerial vehicle and a power transmission line, and angles and distances between the unmanned aerial vehicle and an obstacle.
The laser detection device 3 comprises a laser and a detector.
Optionally, the inspection report generating system further includes:
and an X-ray flaw detection device mounted on the unmanned plane.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 elements and steps are described above generally in terms of functionality in order to clearly illustrate the 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 solution. 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 application.
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. The software modules may be disposed 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 method, the device and the system for generating the transmission line inspection report provided by the application are described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
Claims (7)
1. The method for generating the inspection report of the power transmission line is characterized by comprising the following steps of:
determining the position of an obstacle around the transmission line by a position determining device; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line;
acquiring a spectrum of atoms excited by the laser of the obstacle, and determining the material type of the obstacle according to the spectrum;
controlling X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
acquiring the intensity of the X-rays passing through the hardware fitting;
constructing an image of the hardware fitting according to the X-ray intensity, and determining a defect detection result of the hardware fitting according to the image;
generating a patrol report of the power transmission line according to the position, the material type, the defect detection result and the hardware name;
before the acquiring the spectrum of the atoms excited by the laser, the method further comprises:
determining a distance between the unmanned aerial vehicle and the obstacle;
judging whether the distance is smaller than a preset distance threshold value or not;
if the distance is not smaller than the preset distance threshold, adjusting the position of the unmanned aerial vehicle so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold;
the acquiring the spectrum of the atoms of the obstacle excited by the laser comprises:
transmitting a laser irradiation command to a laser so that the laser emits laser light for irradiating the obstacle, and the obstacle is excited out of the atoms;
the spectrum generated by the detector from the light emitted by the atoms is acquired.
2. The inspection report generation method of an electric power transmission line according to claim 1, wherein when the position determination device is a single line laser radar, the determining, by the position determination device, the position of the obstacle around the electric power transmission line includes:
acquiring the angle and the distance of the obstacle relative to the unmanned aerial vehicle through the single-line laser radar;
and determining the position of the obstacle according to the angle, the distance and the position of the unmanned aerial vehicle.
3. A method of generating a patrol report of a power transmission line according to claim 2, wherein before said determining the position of the obstacle around the power transmission line by the position determining device, further comprises:
adjusting the head direction of the unmanned aerial vehicle so that the head direction is perpendicular to the power transmission line;
acquiring azimuth information of the power transmission line through the single-line laser radar; the azimuth information comprises an angle and a distance;
judging whether the power transmission line is in a preset angle fluctuation range and a preset offline distance fluctuation range according to the azimuth information;
if not, correcting the deviation of the unmanned aerial vehicle according to the preset aviation flight parameters, so that the unmanned aerial vehicle flies along the power transmission line.
4. A method of generating a patrol report of a power transmission line as recited in claim 3, wherein said obtaining azimuth information of said power transmission line by said single line lidar comprises:
acquiring a plurality of angles to be processed and distances to be processed, which are sent by the single-line laser radar;
removing abnormal values in the angles to be processed and the distances to be processed by using a Kalman filtering algorithm, and correspondingly obtaining angles after removal and distances after removal;
determining the average value of the angles after the elimination as the angle;
and determining the minimum value in the removed distance as the distance.
5. A transmission line inspection report generating device, characterized by comprising:
the determining module is used for determining the positions of obstacles around the power transmission line through the position determining equipment; the position determining device is carried on an unmanned aerial vehicle flying along the power transmission line;
a distance determining module, configured to determine a distance between the unmanned aerial vehicle and the obstacle;
the first judging module is used for judging whether the distance is smaller than a preset distance threshold value or not;
the adjusting module is used for adjusting the position of the unmanned aerial vehicle if the distance is not smaller than the preset distance threshold value, so that the distance between the unmanned aerial vehicle and the obstacle is smaller than the preset distance threshold value;
the acquisition and determination module is used for acquiring the spectrum of the atoms excited out by the obstacle and determining the material type of the obstacle according to the spectrum;
the control module is used for controlling the X-ray flaw detection equipment to emit X-rays to hardware fittings on the power transmission line in different directions;
the intensity acquisition module is used for acquiring the intensity of the X-rays passing through the hardware fitting;
the defect determining module is used for constructing an image of the hardware fitting according to the X-ray intensity and determining a defect detection result of the hardware fitting according to the image;
a generation module for
Generating a patrol report of the power transmission line according to the position, the material type, the defect detection result and the hardware name;
the acquisition and determination module comprises: a transmitting unit and a first acquiring unit;
the transmitting unit is used for transmitting a laser irradiation instruction to a laser so that the laser emits laser for irradiating the obstacle to excite the obstacle to the atoms;
the first acquisition unit is configured to acquire the spectrum generated by the detector from light emitted by the atoms.
6. A system for generating a patrol report of a power transmission line, comprising:
unmanned plane;
a position determining device mounted on the unmanned aerial vehicle;
the laser detection device is mounted on the unmanned aerial vehicle and is used for emitting laser for exciting the obstacle, so that the obstacle is excited out of atoms, and a spectrum is generated according to the atoms;
a transmission line inspection report generating apparatus for performing the steps of the transmission line inspection report generating method according to any one of claims 1 to 4.
7. The transmission line inspection report generating system as set forth in claim 6, further comprising:
and an X-ray flaw detection device mounted on the unmanned plane.
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